智能轮椅担架车的折展机构设计与分析

针对智能轮椅担架车折展状态之间的转换难题，提出单自由度5杆机构，对该机构进行详细的设计与分析. 通过最小包容面积法，得出扶手连杆和连架杆的最优尺寸，分别为507.9和332.5 mm；基于连杆机构的静力学分析，采用6根扭簧和RV减速电机作为连杆机构的驱动装置，减少了电机的驱动力矩，整体结构紧凑. 根据优化参数和驱动装置的计算结果，开展智能轮椅担架车折展机构的设计，分析扶手构件在如厕状态和折展状态时的应力变化，验证了该构件强度的可靠性. 研制智能轮椅担架车，采用不同重量的实验人员进行折展机构的性能测试，从机构的运动过程和电机电流变化来看，所设计的驱动装置和优化参数结果合理.

Design and analysis of folding mechanism for intelligent wheelchair-stretcher robot

A five-bar mechanism with single degree of freedom was proposed to realize the folding transforming of the intelligent wheelchair-stretcher robot. The mechanism was designed and analyzed in detail. The dimensions of the armrest link and the side link were optimized by using minimum containment area method, which were 507.9 mm and 332.5 mm, respectively. The driving device was designed by adopting six torsional springs and RV gear motor according to the static analysis in order to reduce the driving torque of the motor and compact overall structure. The folding mechanism of the robot was designed based on parameters optimization and the design of driving device. The stresses of the armrest link in the toilet state and the folding state were analyzed to verify its reliability. The prototype of the intelligent wheelchair-stretcher robot was developed, and the performance of its folding mechanism was tested. The designed driving device and the optimized parameters are reasonable from the change of the motor current and the view of the movement process of the whole device.