Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair
A five degrees of freedom manipulator for automatic retractable vehicle-mounted wheelchairs is proposed. Firstly, the mathematical model of the manipulator is established according to the D-H method, and the forward and inverse kinematics analysis is carried out. When the inverse kinematics analysis...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-08-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.007 |
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| _version_ | 1841546998374727680 |
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| author | Cui Jiahui Li Lin Liang Dong Qin Chengxin |
| author_facet | Cui Jiahui Li Lin Liang Dong Qin Chengxin |
| author_sort | Cui Jiahui |
| collection | DOAJ |
| description | A five degrees of freedom manipulator for automatic retractable vehicle-mounted wheelchairs is proposed. Firstly, the mathematical model of the manipulator is established according to the D-H method, and the forward and inverse kinematics analysis is carried out. When the inverse kinematics analysis is carried out, the analytical method and the back propagation (BP) neural network are used to solve the problem respectively. Secondly, the quintic polynomial interpolation method is used to plan the joint space trajectory of the manipulator, so as to realize the smooth and impact-free movement of the manipulator. Then, the workspace of the manipulator is analyzed based on the Monte Carlo method, and the point nephogram of the workspace for the end positioning of the manipulator is obtained. Finally, virtual simulation experiment is carried out for specific vehicle-mounted application scenarios. The simulation results show that the design of the manipulator is reasonable, the movement is flexible, and it meets the application requirements, which will provide a theoretical basis for the development and application of the prototype. |
| format | Article |
| id | doaj-art-ec24306e74f5436f9b01a3aa1dfb7fa2 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ec24306e74f5436f9b01a3aa1dfb7fa22025-01-10T14:58:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-08-0147455240845710Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted WheelchairCui JiahuiLi LinLiang DongQin ChengxinA five degrees of freedom manipulator for automatic retractable vehicle-mounted wheelchairs is proposed. Firstly, the mathematical model of the manipulator is established according to the D-H method, and the forward and inverse kinematics analysis is carried out. When the inverse kinematics analysis is carried out, the analytical method and the back propagation (BP) neural network are used to solve the problem respectively. Secondly, the quintic polynomial interpolation method is used to plan the joint space trajectory of the manipulator, so as to realize the smooth and impact-free movement of the manipulator. Then, the workspace of the manipulator is analyzed based on the Monte Carlo method, and the point nephogram of the workspace for the end positioning of the manipulator is obtained. Finally, virtual simulation experiment is carried out for specific vehicle-mounted application scenarios. The simulation results show that the design of the manipulator is reasonable, the movement is flexible, and it meets the application requirements, which will provide a theoretical basis for the development and application of the prototype.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.007Kinematics analysisBP neural networkMonte Carlo methodTrajectory planningWorkspace |
| spellingShingle | Cui Jiahui Li Lin Liang Dong Qin Chengxin Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair Jixie chuandong Kinematics analysis BP neural network Monte Carlo method Trajectory planning Workspace |
| title | Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair |
| title_full | Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair |
| title_fullStr | Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair |
| title_full_unstemmed | Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair |
| title_short | Design and Motion Analysis of an Automatic Retractable Manipulator for a Vehicle-mounted Wheelchair |
| title_sort | design and motion analysis of an automatic retractable manipulator for a vehicle mounted wheelchair |
| topic | Kinematics analysis BP neural network Monte Carlo method Trajectory planning Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.08.007 |
| work_keys_str_mv | AT cuijiahui designandmotionanalysisofanautomaticretractablemanipulatorforavehiclemountedwheelchair AT lilin designandmotionanalysisofanautomaticretractablemanipulatorforavehiclemountedwheelchair AT liangdong designandmotionanalysisofanautomaticretractablemanipulatorforavehiclemountedwheelchair AT qinchengxin designandmotionanalysisofanautomaticretractablemanipulatorforavehiclemountedwheelchair |