Design Of Wheel-Leg Power-assisted Trolley Balance System

Wheel-leg power-assisted trolley have body roll and pitch during work,and vibrations are transmitted to the body due to the unevenness of the road surface.These problems have different degrees of impact on the instruments or people carried by the power-assisted trolley,reducing the accuracy and life of the instrument,as well as secondary injuries to the wounded.Therefore,it is necessary to research the posture-adjusting vibration isolation platform suitable for this kind of problem to reduce the adverse effects of the posture change and vibration of the trolley body.This article takes the parallel attitude adjustment and vibration isolation platform as the main research content,studies the kinematics,dynamics and other performance indexes of the parallel posture adjustment and vibration isolation platform,and the attitude adjustment and vibration isolation performance of the platform is calculated and verified by theoretical calculation,simulation and experiment.The specific content includes:1.The specific technical requirements of the attitude adjustment and vibration isolation platform were determined.Based on the G_F set theory,a type of 5 DOF parallel mechanism type synthesis was performed,and the 4-UPS/CPC parallel mechanism was selected as the main body of the platform.2.The kinematics and dynamics analysis of the 4-UPS/CPC parallel mechanism was analyzed,and the performance indicators such as its working space,static stiffness and dexterity were solved,and the structural parameters of the parallel mechanism were optimized and designed based on the objective function.Finally,the optimized structural parameters were verified,which can well meet the attitude adjustment requirements and good working performance of the parallel mechanism.3.In order to simulate the tilt angle of the trolley body,the foot end the displacement curve of the foot end was solved and the road roughness model was established.The trajectory planning of the attitude adjustment was carried out,and the differential prediction algorithm was used to make up for the problem of the attitude adjustment lag.Finally,the simulation obtained the leveling angle error,and the leveling in the process of the trolley body was realized.4.The vibration response model of the attitude adjustment and vibration isolation platform was established,the stiffness and damping matrix of the platform were solved,and the array was regularized to obtain the vibration response of the platform under damped forced vibration,and the theoretical vibration isolation effect of the platform was obtained.In ADMAS,the passive vibration isolation simulation model of the platform was established,and the simulation verification and analysis of the vibration isolation effect were performed.5.The experimental prototypes was made,and the experimental research was completed.The structural design,drawing,processing and assembly of the prototype were completed.The design of the experimental system,the construction of the experimental platform and the experimental research were carried out.The experimental results verify the vibration isolation effectiveness of the vibration isolation platform proposed in this thesis.