Vibration Characteristics Analysis of Convalescent-Wheelchair Robots Equipped with Dynamic Absorbers

Author:

Wang Song1ORCID,Zhao Leilei1ORCID,Hu Yanzhu1ORCID,Yang Fuxing1

Affiliation:

1. Automation College, Beijing University of Posts and Telecommunications, Beijing 100876, China

Abstract

To provide a theoretical guidance for the vibration isolation design, the vibration responses characteristics for the convalescent-wheelchair robot with DA (dynamic absorber) undergoing the random road were revealed. Firstly, the vibration model of the convalescent-wheelchair system with DA was created. The frequency response functions of the road excitation velocity to the convalescent acceleration, the wheelchair body acceleration, and the tire dynamic deflection were deduced. Then, the numerical calculation method of the PSD (power spectral density) and the RMS (root mean square) responses were proposed. Thirdly, the vibration isolation performances of the wheelchair robot with DA and without DA were compared. Finally, the sensitivity analysis of the vibration responses to the mass ratios, the damping ratios, and the natural frequencies was carried out to reveal the effects of the parameters on the vibration responses. The results show that the DA can partly suppress the vibration of the convalescent and the wheelchair body, especially in the resonance area of the wheelchair body. However, the DA cannot successfully improve the tire contact behavior.

Funder

National Natural Science Foundation of China

Publisher

Hindawi Limited

Subject

Mechanical Engineering,Mechanics of Materials,Geotechnical Engineering and Engineering Geology,Condensed Matter Physics,Civil and Structural Engineering

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