Vibration characteristic analysis of electric wheelchair-pavement coupling system based on mecanum wheel

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Journal of Vibration and Shock ›› 2020, Vol. 39 ›› Issue (7) : 245-252.

DAI Shijie1,2, LIU Ruojiao1,2, ZHANG Huibo1,2

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Abstract

In order to analyze the vibration characteristics of omni-directional mobile wheelchair based on Mecanum wheel, the contact model between Mecanum wheel and ground and the mobile platform model with 7 degrees of freedom were established, and the coupling vibration equation between wheelchair and road surface was established by using the displacement coordination equation of the contact point between wheel and road and the balance relationship of interaction force between wheelchair and road surface. The effects of the starting position, rotational speed and load of the wheel in contact with the road surface on the vibration characteristics of the wheelchair were studied. An omni-directional mobile test rig was built, and the accuracy of numerical simulation was verified by experiments. The analysis results show that in order to improve the ride comfort, the initial contact position between the wheel and the road surface should be kept the same as far as possible. The vibration frequency and amplitude of the wheelchair increase with the increase of the rotational speed. When the rotational speed is between 150r/min and 200r/min, the vibration frequency of the wheelchair is close to the inherent biological wave (8Hz) of the human body, which will cause strong discomfort. The weight of the passenger has little effect on the vibration characteristics of the wheelchair, but has a certain inhibitory effect on the amplitude of the vibration.

Key words

Mecanum wheel / coupled vibration system / wheelchair comfort / mechanical dynamics

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DAI Shijie1,2, LIU Ruojiao1,2, ZHANG Huibo1,2. Vibration characteristic analysis of electric wheelchair-pavement coupling system based on mecanum wheel[J]. Journal of Vibration and Shock, 2020, 39(7): 245-252

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