Applied Sciences: Analysis, Design, and Experimental Research of A Novel Wheelchair-Stretcher Assistive Robot

applied
sciences
Article
Analysis, Design, and Experimental Research
of a Novel Wheelchair-Stretcher Assistive Robot
Lingfeng Sang 1,2,3, * , Masayuki Yamamura 2 , Fangyan Dong 3 , Zhongxue Gan 3 ,
Jianzhong Fu 4 , Hongbo Wang 5 and Yu Tian 5
1 College of Mechanical and Electrical Engineering, Ningbo Polytechnic, Ningbo 315800, China
2 School of Computing, Tokyo Institute of Technology, Kanagawa 226-8502, Japan; my@c.titech.ac.jp
3 Ningbo Intelligent Manufacturing Industry Research Institute, Yuyao 315400, China;
dongfangyan@iimi.org.cn (F.D.); ganzhongxue@fudan.edu.cn (Z.G.)
4 College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; fjz@zju.edu.cn
5 Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University,
Qinhuangdao 066004, China; hongbo_w@ysu.edu.cn (H.W.); ysusirtian@163.com (Y.T.)
* Correspondence: sanglingfeng@163.com

Received: 14 November 2019; Accepted: 26 December 2019; Published: 29 December 2019
Featured Application: This novel robot could be applied in hospital, family and nursing home to
help the elderly complete the basic daily activities and move patient autonomously.
Abstract: Life care for disabled or semi-disabled elderly has become an increasingly common problem
in society. In this paper, a novel wheelchair-stretcher assistive robot, which can meet the physiological
needs of patients, is investigated and designed. The following tasks are conducted: (1) the mecanum
wheel is adopted as the executive device of the walking mechanism, and its kinematics is analyzed in
detail. (2) A five-link mechanism with single degree of freedom is proposed to realize the folding
motion of the robot. Through the minimum conclusive area method, the optimal sizes of the armrests
link and the side link are 507.9, and 332.5 mm, respectively. Based on the force analysis of the linkage
mechanism, six torsion springs and RV (rotate vector) reduction motor are used as the driving device,
which reduces the driving torque of the motor. (3) Based on the STM32 (STMicroelectronics 32-bits
Microcontroller) chip, and combined with the theoretical analysis, the mechanical structure and the
control system of the whole prototype are designed, and the feasibility of each module is verified by
experimental research. The results confirm that the proposed robot has good performance, and that
the control algorithm for the walking mechanism and the lifting mechanism are suitable.
Keywords: wheelchair-stretcher assistive robot; mechanical structure; kinematics analysis; parameter

optimization; control system
1. Introduction
It is generally known that population aging is a global phenomenon because of the increasing
levels of health care. In 2019, the number of people aged 65 years or over has become 703 million in the
world, and it is estimated to double in 2050 [1,2]. With the aging population, there are more and more
disabled and semi-disabled elderly people. Despite that bedridden elderly needs to go to the toilet in a
wheelchair or go out for some fresh air, it is impossible to do on their own [3].
Researchers have done a lot of work on enabling the elderly to smoothly move between bed
and wheelchair. For instance, bed chair assist robot “Resyone” is developed by Panasonic Company
in Japan [4]; a bed-chair robot system “AgileLife”, that can be docked with wheelchair, is made by
NextHealth Company [5]; a multi-functional wheelchair of assisting the elderly to get up and down
Appl. Sci. 2020, 10, 264; doi:10.3390/app10010264 www.mdpi.com/journal/applsci

Appl. Sci. 2020, 10, 264 2 of 24
the bed is proposed by Harbin Engineering University [6]; an integrated multi-functional nursing
bed for the bedridden elderly with weak body but normal intelligence is developed by Institute of
Robotics of Beijing University of Aeronautics and Astronautics and Xinsong Robot Automation Co.,
Ltd. [7,8]. By changing the structure of the bed, the above studies enable patients to move between
the bed and the wheelchair. There is also some research on the transport device from bed to stretcher,
such as a patient transport device developed by SA.VIR Company in Italy [9], taxiing air cushion
designed by Getinge Company in Sweden [10], “PowerNurse” transfer equipment invented by Astir
Technologies Company in American [11], SE series medical electric transfer vehicle developed by
Ningbo Kai Medical Technology Co., Ltd. [12], a transfer robot researched by the Institute of Health
Equipment of the Academy of Military Medical Sciences of the Chinese people’s Liberation Army [13],
and intelligent transport robot for patients designed by Yanshan University [14].
In addition, some researchers use humanoid robots to study the transfer and transport of
patients, such as lifting transfer robot “RIBA”, invented by the Institute of Physical and Chemical
Research in Japan [15], the wounded transfer robot BEAR developed by Vecna Company in the United
States [16], and the humanoid back-hugging transfer robot “Baize” designed by Hebei University of
Technology [17].
In summary, we can see that:
(1) The technology of transport devices in moving patients from bed to stretcher, or from stretcher to
bed, is more mature; but it is difficult to transform the stretcher to a wheelchair.
(2) The research on the multi-function nursing bed mainly focuses on the change of bed structure.
There are two main forms; one is that the middle part of the bed structure is changed directly
into a wheelchair; the other is that one side of the bed structure is transformed into a wheelchair.
However, for these two methods, not only the sheets need to be customized, but also the mattress
under the body needs to be moved with the patient which resulted in a deterioration of the
patient’s experience.
(3) The research technology of humanoid assistive robot is advanced, but it is expensive and is far
away from industrial application.
(4) It has always been a difficult problem for patients to go to the toilet. Although the research
institutions have put forward some ideas, they have not been able to successfully develop the
right products.
Based on these, a low-cost and practical wheelchair-stretcher assistive robot is proposed. The robot
could transform between wheelchair and stretcher. In wheelchair form, it could move autonomously,
so that the elderly can easily complete the basic daily activities such as going to the bathroom and
outdoors. In stretcher form, it could automatically adjust the height and dock with the bed. The robot
can also work with transport device to move patient between bed and stretcher which promote comfort
and prevent harm to patients.
2. Mechanical Structure Design of the Wheelchair-Stretcher Assistive Robot

The product is determined on the basis of user requirements and corresponding design standards.
As wheelchair and stretcher belong to medical equipment, the designed robot should meet the
corresponding medical device standards [18,19]. In order to ensure that the human-machine-environment
system can be in line with human movement habits, physiological habits and psychological habits,
and to ensure that people can use robots to carry out all kinds of movements safely, comfortably
and efficiently. Therefore, the theory of ergonomics is adapted as the other design standard [20,21].
Based on these two standards, the proposed robot is designed.
The robot consists of two main parts, namely, the design of the mechanical structure and the
design of the control system. The design of the mechanical structure includes the design of the folding
mechanism, the walking mechanism, the lifting mechanism and the toilet mechanism; the control
Appl. Sci. 2020, 10, 264 3 of 24
system design includes the main control unit, drive unit, and remote control unit, as shown in Figure 1.
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The
Appl. prototype
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Figure
2. 3 of 24
Posture
Posture Folding mechanism
Driving Design requirement Folding mechanism
Driving Medical device Design requirement
of mechanical Walking mechanism
Size Medical device
standard of system
mechanical Walking mechanism
Size standard Lifting mechanism
Stability system Lifting mechanism
Stability Toilet mechanism
Noise Design Design requirement Toilet mechanism
Noise Design
standard Design requirement
of robot
standard of robot
Security
Security Main control unit
Comfort
Comfort Theory of Design requirement Main control unit
Theory of
ergonomics Design requirement
of control system Driving unit
High Driving unit
ergonomics of control system Remote control unit
High
efficiency
efficiency Remote control unit
Figure 1. Designing scheme of the wheelchair-stretcher assistive robot.

Figure 1.
Figure Designing scheme
1. Designing scheme of
of the
the wheelchair-stretcher
wheelchair-stretcher assistive
assistive robot.
robot.
(a) (b)
(a) (b)
Figure
Figure2.2.The
Thewheelchair-stretcher
wheelchair-stretcherassistive robot;
assistive (a) (a)
robot; prototype of the
prototype of robot; (b) remote
the robot; control
(b) remote of theof
control
Figure
robot.
the 2. The wheelchair-stretcher assistive robot; (a) prototype of the robot; (b) remote control of the
robot.
robot.
2.1.Kinematics
2.1. KinematicsAnalysis
Analysisand
andStructure
StructureDesign
Designofofthe
theWalking
WalkingMechanism
Mechanism
2.1. Kinematics Analysis and Structure Design of the Walking Mechanism
Kinematics play
Kinematics play aacrucial
crucialrole in the
role in selection of mechanism
the selection design parameters.
of mechanism First, the kinematics
design parameters. First, the
of Kinematics
walking mechanismplay aiscrucial
analyzed role
in in the
detail.
kinematics of walking mechanism is analyzed in detail. selection of mechanism design parameters. First, the
kinematics of walking mechanism is analyzed in detail.
2.1.1. Kinematics Analysis of the Walking Mechanism
2.2.1. Kinematics Analysis of the Walking Mechanism
2.2.1.The
Kinematics
mecanum Analysis
wheel, of the Walking
a kind Mechanismwheel, is selected for the design of the walking
of omnidirectional
The mecanum wheel, a kind of omnidirectional wheel, is selected for the design of the walking
mechanism. The reason
The mecanum wheel,isathat
kind a of
combination of three or more
omnidirectional mecanum wheels can move in any
mechanism. The reason is that a combination of threewheel, is selected
or more mecanum for wheels
the design
canof the walking
move in any
direction
mechanism. on The
a flatreason
surface
is [22]. aThe
that typical four-wheel
combination of three orlongitudinal
more mecanumsymmetrical
wheels layout
can movestructure
n any
in
direction on a flat surface [22]. The typical four-wheel longitudinal symmetrical layout structure ois
 
is applied in the walking mechanism, as shown in Figure 3. The global coordinate
direction on a flat surface [22]. The typical four-wheel longitudinal symmetrical layout structure frame oxy is
applied in the walking mechanism, as shown in Figure 3. The global coordinate frame oxy is
assigned on the center of the walking platform and the velocity of the center point is described as
happlied in theiTwalking mechanism, as shown in Figure 3. The global coordinate frame oxy is
assigned
 
vx v y wthe
on center
. of the walking platform and the velocity of the center point is described as
assigned on zthe
T center of the walking platform and the velocity of the center point is described as
vx vy wz  T.
 v v w  .
 x y z
Appl. Sci. 2020, 10, 264 4 of 24
vg1
y α v
g2
R
w1 O1 O2 w2
m2
m1
O x
vg3 vg4
O3 O4
Figure
Figure 3. Layout analysis
3. Layout analysis of
of mecanum
mecanum wheel.
wheel.
Assuming that the roller does not skid against the ground and the platform moves on the horizontal
Assuming that the roller does not skid against the ground and the platform moves on the
plane, the velocity v4 of the fourth wheel can be established by kinematics analysis:
horizontal plane, the velocity v4 of the fourth wheel can be established by kinematics analysis:
0 0 − sin α   w
− sin w44 
" #" #
v4 =v4 =     ,, (1)
R R cos α   vvg4
cos g4 

where R
where R is
is the
the radius
radius of of the
the Mecanum wheel; αis the
Mecanum wheel; is the bias
bias angle
angle of of
thethe roller
roller and
and thethe diagonal
diagonal line
line in
in Figure 3 indicates the layout of the rollers in contact with the ground;
Figure 3 indicates the layout of the rollers in contact with the ground; w4 is the w is the angular velocity
4 angular velocity of the
fourth
of the fourth v g4 is velocity
wheel;wheel; to perpendicular
vg 4 is velocity to the roller.
to perpendicular to the roller.
Meanwhile,
Meanwhile, in the global coordinate system, the following equation
in the global coordinate system, the following equation can
can be
be obtained,
obtained,
#  vxx 
 
 
1 0 m2 2   
"
1 0 m
v4 =v4 = 

00 1 1 m1m1   y 
 vy  (2)
w 
 wzz 
where mm , 2mare
1 ,1 m 2
horizontal
are andand
horizontal vertical distance
vertical from
distance thethe
from center of the
center platform
of the to the
platform center
to the of the
center of
wheel respectively.
the wheel respectively.
Combining
Combining Equations
Equations (1)
(1) and
and (2),
(2), we
we can
can obtain:
obtain:
#vxvx
 

 0sin−αsin w 4 4
w  1 0 m22   
" #" # " 
0 −
  = =  v vy

. (3)
R αcos  vg4 vg 4  0 1 m11   y 
R cos 
(3)
w

 wz z.
Similarly, the kinematics expression from the first wheel to the three wheels can be computed;
finally,
finally, the
the angular
angular velocity vector w
velocity vector w for
for the
the four
fourwheels
wheelscan
canbe
bedescribed
describedas,
as,
  w1 
 w1    v  
w  vxx  
 w2  
 
w =w =  w == JJ11 vvyy  , ,
2
(4)
   
(4)
 w3 3   
     wzz 
w4 4 
w
where
where
−(m1 tan α+m2 ) 
( )

 R tan 1 1
  −1 1 1
α R 1 m− Rm tan  +m2
tan1 α
1 tan α+m2 


J1 =  R tan α R R−(m RtantanR αtan  

 R tan .
 −1 1 1 α+m2 ) 

 R tan−α1 R 1 Rm α +m
tantan 

m1 tan1α+m2
 2
  1 1 

α R
R tan R R tanR αtan 
J1 = R tan .
 −1 1 − ( m1 tan  + m2 ) 
 
 R tan  R R tan  
 1 1 m1 tan  + m2 
 R tan  R tan  
 R 
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The angular velocity is obtained by the transmission of the motor and the gearing; therefore, the
The angular velocity is obtained by the transmission of the motor and the gearing; therefore, the
corresponding
The angular relationship
velocity is between
obtained the rotational
by the velocity
transmission of of
thethe motor
motor andand
thethe velocity
gearing; of the
therefore,
corresponding relationship between the rotational velocity of the motor and the velocity of the
platform
the can be obtained
corresponding as follows,
relationship between the rotational velocity of the motor and the velocity of the
platform can be obtained as follows,
platform can be obtained as follows, w
n = ww , (5)
n =
n = 2 m, , (5)
2 m
2πm
where m
where m is
is the reduction
reduction ratio ofof the mecanum
mecanum wheels.
m thethe reduction ratio
ratio of the
the mecanum wheels.
wheels.
2.2.2. Structure
2.1.2. Structure Design
Design of of the Walking Mechanism
the Walking Mechanism
2.2.2. Structure Design of the Walking Mechanism
Based on
Based on the computing of the
the walking
walking mechanism
mechanism and and the
the layout
layout arrangement
arrangement of of the
the mecanum
Based on the computing of
the computing of the walking mechanism and the layout arrangement of the mecanum
mecanum
wheel,
wheel, the
the mechanical
mechanical structure
structure of
of the
the walking
walking mechanism,
mechanism, which
which is
is installed
installed on
on the
the support
support plate of
plate of
wheel, the mechanical structure of the walking mechanism, which is installed on the support plate of
the seat,
the seat, is designed
designed in detail
detail and shown
shown in Figures
Figures 4–6. The
The left part
part of the
the walking mechanism
mechanism is
the seat, is
is designed in in detail and
and shown in in Figures 4–6.
4–6. The left
left part ofof the walking
walking mechanism is is
similar to
similar to the
the right
right part.
part. The
The mecanum
mecanum wheel,
wheel,which
which isismounted
mounted ininthe
thecase ofof
case thethe
walking
walkingwheel, is
wheel,
similar to the right part. The mecanum wheel, which is mounted in the case of the walking wheel, is
connected
is connected to NMRV040
to NMRV040 turbine worm
turbine wormreducer by the
reducer synchronous
by the synchronouswheel and and
wheel the synchronous belt;
the synchronous
connected to NMRV040 turbine worm reducer by the synchronous wheel and the synchronous belt;
and the
belt; and motor
the is linked
motor is to the
linked to turbine
the worm
turbine reducer
worm by P52HA
reducer by P52HAplanetary reducer.
planetary Therefore,
reducer. the
Therefore,
and the motor is linked to the turbine worm reducer by P52HA planetary reducer. Therefore, the
mecanum
the mecanum wheel could
wheel easily
could get
easily power from the motor.
mecanum wheel could easily get get
powerpower
fromfrom
the the motor.
motor.
4
4
3
2 3
1 2
1
Figure 4.
4. The
Thefirst
firstdesign
designdrawing
drawingof of
thethe right
right walking
walking mechanism;
mechanism; 1—case
1—case covercover
of the of the walking
walking wheel,
Figure 4. The first design drawing of the right walking mechanism; 1—case cover of the walking
wheel, 2—synchronous
2—synchronous belt 3—seat
belt pulley, pulley, 3—seat
supportsupport plate, guard.
plate, 4—belt 4—belt guard.
wheel, 2—synchronous belt pulley, 3—seat support plate, 4—belt guard.
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
The second
Figure 5. The second design
design drawing
drawing of the
the right
right walking
walking mechanism;
mechanism; 1—36SYK71 motor and P52HA
Figure 5. The second design drawing of the right walking mechanism; 1—36SYK71 motor and P52HA
planetary
planetaryreducer,
reducer,2—NMRV040
2—NMRV040 turbine worm
turbine worm reducer, 3—rib
reducer, plate,plate,
3—rib 4—shaft, 5—base
4—shaft, plate of
5—base the motor,
plate of the
planetary reducer, 2—NMRV040 turbine worm reducer, 3—rib plate, 4—shaft, 5—base plate of the
6—lower support plate of the seat, 7—connecting plate of the walking wheel, 8—mecanum
motor, 6—lower support plate of the seat, 7—connecting plate of the walking wheel, 8—mecanum wheel.
motor, 6—lower support plate of the seat, 7—connecting plate of the walking wheel, 8—mecanum
wheel.
wheel.
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1
1
2
2
3 9
3 9
8
8
4
4
5
6 7
5
6 7
Figure
Figure 6.
6. The
Themechanical
structure design
design of
of the
the Mecanum
Mecanum wheel;
wheel; 1—case
1—case cover
cover of
of the
thewalking
walking wheel,
wheel,
Figure 6. The mechanical structure design of the Mecanum wheel; 1—case cover of the walking wheel,
2—bear, 3—shaft of
2—bear, 3—shaft of the
the Mecanum
Mecanum wheel,
wheel, 4—connectting plate of
4—connectting plate of the
the Mecanum
Mecanum wheel,
wheel, 5—connecting
5—connecting
2—bear, 3—shaft of the Mecanum wheel, 4—connectting plate of the Mecanum wheel, 5—connecting
plate of the
the walking
walking wheel,
wheel,6—the
6—theMecanum
Mecanumwheel,wheel,7—HTD5
7—HTD5driven
drivenbelt
beltpulley,
pulley, 8—the
8—the upper
upper cover
cover of
plate of the walking wheel, 6—the Mecanum wheel, 7—HTD5 driven belt pulley, 8—the upper cover
of
thethe bearing
bearing block,
block, 9—the
9—the lower
lower cover
cover of the
of the bearing
bearing block.
block.
of the bearing block, 9—the lower cover of the bearing block.
2.2. Kinematics,
2.2. Kinematics, Dynamics
Dynamics Analysis
Analysis and
and Optimization
Optimization of
of the
the Folding
Folding Mehanism
Mehanism
2.2. Kinematics, Dynamics Analysis and Optimization of the Folding Mehanism
2.2.1. Kinematics
2.2.1. Kinematics Analysis
Analysis and
and Parameters
Parameters Optimization
Optimization of of the
the Folding
Folding Mechanism
Mechanism
2.2.1. Kinematics Analysis and Parameters Optimization of the Folding Mechanism
Folding mechanism
Folding mechanism isis the
the key
key to
to realizing
realizing the
the safe
safe and
and smooth
smooth switching
switching between wheelchair
between wheelchair
Folding mechanism
and stretcher.
stretcher. is the
Analyzing the
the key to realizing
movement the safe
characteristic andwheelchair-stretcher
of the
the smooth switching between
assistivewheelchair
robot and
and
and Analyzing movement characteristic of wheelchair-stretcher assistive robot
and stretcher. Analyzing the movement characteristicmechanism
of the wheelchair-stretcher assistive robot and
researching the references [23–27], the corresponding mechanism is proposed, as shown in Figure7.7.
researching the references [23–27], the corresponding is proposed, as shown in Figure
researching the references [23–27], the corresponding mechanism is proposed, as shown in Figure 7.
3
3
4 2
4 2
1
1
5
5
6
6
7
7
Figure 7. Schematic diagram of folding mechanism;
Figure 7. Schematic diagram of folding mechanism; 1—the
1—the seat
seat plate,
plate, 2—side
2—side linklink 1, 3—armrests,
1, 3—armrests, 4—
Figure 7.
4—side Schematic
link 2, diagram
5—calf ofplate,
support folding mechanism;rod,
6—connecting 1—the seat plate,
7—foot pedal.2—side link 1, 3—armrests, 4—
side link 2, 5—calf support plate, 6—connecting rod, 7—foot pedal.
side link 2, 5—calf support plate, 6—connecting rod, 7—foot pedal.
There is
There is one
one rack,
rack, five
five motion
motion components
components and and seven
seven revolute
revolute joints
joints in
in the
the mechanism.
mechanism. On On the
the
basis There
of the iscomputing
one rack, five motion
formula of components
the degree and
of seven revolute
freedom for the joints in
planar the mechanism.
linkage mechanism On[28],
the
basis of the computing formula of the degree of freedom for the planar linkage mechanism [28], the
basis of the
the following computing
equation formula of the degree of freedom for the planar linkage mechanism [28], the
following equation can can be obtained:
be obtained:
following equation can be obtained:
do f = =3n − 2LPL−−PPHH =
dof3n =1 (6)
dof =3−n2P− 2PL − PH =11 (6)
where n is the number of motion components, PL is the number of lower pair, and PH is the
wheren nis the
where is thenumber
numberof motion components,
of motion components,PL is the
PL number of lowerofpair,
is the number PH isand
andpair,
lower the number
PH is the of
number
higher pair.of higher pair.
number of higher pair.
Parallelogram
Parallelogram structure
structure composed
composed by by the
the calf
calf support
support plate,
plate, foot
foot pedal,
pedal, connecting
connecting rod
rod and
and the
the
Parallelogram structure composed by the calf support plate, foot pedal, connecting rod and the
seat
seat plate
plate has
has no noeffect
effectononthe
themotion
motionofofthe thewhole
whole folding
foldingmechanism.
mechanism. Therefore, the the
Therefore, motion
motionof theof
seat plate has no effect on the motion of the whole folding mechanism. Therefore, the motion of the
quadrilateral structure, which consisted of the seat plate, side link 1, armrests
the quadrilateral structure, which consisted of the seat plate, side link 1, armrests and side link 2, and side link 2, is only
quadrilateral structure, which consisted of the seat plate, side link 1, armrests and side link 2, is only
analyzed.
is only analyzed.
analyzed.
In
In order
order to to determine
determine the the structural
structural size
size of
of the
the mechanism,
mechanism, the the minimum
minimum conclusive
conclusive area,
area, which
which
In order to determine the structural size of the mechanism, the minimum conclusive area, which
is
is the smallest plane region produced in a period for the motion of the folding mechanism, is used as
the smallest plane region produced in a period for the motion of the folding mechanism, is used as
is the smallest plane region produced in a period for the motion of the folding mechanism, is used as
the optimization function
the optimization function [29].
[29]. The
The movement
movementdiagramdiagramof ofthe
thewhole
wholemechanism
mechanismisisshown
shownininFigure
Figure 8.
the optimization function [29]. The movement diagram of the whole mechanism is shown in Figure
8.
8.
Appl. Sci. 2020, 10, 264 7 of 24
D
l3 C
α
l4 S1
l2
S2 S3
β B
l1 C1
S4
A
D1
Figure 8.
Figure Schematic diagram
8. Schematic diagram of
of the
the planar
planar four-bar
four-bar linkage.
linkage.
The two positions shown in Figure 8 are the limit positions of the movement of the planar linkage,
The two positions shown in Figure 8 are the limit positions of the movement of the planar
and the region formed by the two limit positions is the smallest region of the planar linkage and can be
linkage, and the region formed by the two limit positions is the smallest region of the planar linkage
described as:
and can be described as:
S = S1 + S2 + S3 + S4 . (7)
S = S1 + S2 + S3 + S4 . (7)
In this formula, area S1 of ∆ADC is given as,
In this formula, area S1 of ∆ADC is given as,
q
S = pp(pp−− ll4 )·g(pp −
S1 =
1 ( 4 )(
− ll3 )g·(pp −−ll2 ) 3 )( 2 )(8)
(8)
where l22 ==290

290mm
mmisisthethelength
lengthof
ofside
sidelink
link1.
1. The
Theoptimal parameterll33isisthe
optimalparameter thelength
lengthof
ofthe
thearmrests.
armrests.
l +l +AC
The optimal parameter l4 is the length of side link 2. And p = l33 + l424 + AC .
The optimal parameter l4 is the length of side link 2. And p = .
Area S2 of ∆ABC is expressed as, 2
Area S 2 of ∆ABC is expressed as,
1
S2 = 1l1 · l2 · sin ∠ABC (9)
S2 =2 l1  l2  sin ABC (9)
2
where l1 = 555 mm is the length of the seat plate.
where l1 = 555 mm is the length of the seat plate.
Area S3 of sector CBC1 is written as:
Area S3 of sector CBC1 is written as:
1
S3 = 1πl222. (10)
S3 = 4  l2 . (10)
4
Area SS4 ofoftrapezoid
Area trapezoidABC
ABC1D
1D1 1isisdescribed
describedas:as:
4
((l1l1+
+ l22 ))g·|AB|
AB yy
S4 S=4 = .. (11)
22
In the meantime, the relationship
relationship expressions betweenl3 ,l3l，
expressionsbetween 4 and 、be
α, β can
l4 and  determined
can be determined as
as follows,
follows,
l4 · sin β + l3 cos α = l1 cos(∠D1 AB),
l4  sin  + l3 cos  = l1 cos ( D1 AB )， (12)
l4 · cos β − l3 sin α = l1 sin(∠D1 AB) + l2 (12)
l4  cos  − l3 sin  = l1 sin ( D1 AB ) + l2
where α is the angle between the armrests link and the horizontal direction. β is the angle between the
where α is the angle between the armrests link and the horizontal direction. β is the angle between
side link 2 and the vertical direction. ∠D1 AB is the angle between the side link 2 in the limit position
the side link 2 and the vertical direction. ∠D1AB is the angle between the side link 2 in the limit
and the seat plate.
position and the seat plate.
Simplifying Equation (12), the following equations can be derived:
Simplifying Equation (12), the following equations can be derived:
= (1D1 AB1 ) cos  -l sin ( D1 AB ) sin  -l2 ,sin 
l cos(∠D AB) cos β−l1 sin(∠D1 AB) sin β−l2 sin β
ll13cos
l3 = (sin α sin1 β+cos α cos β) ，
l4 = (
l1 sin α cos ( ∠D
sin  AB
1 sin)+ l1 cos
+ cos 
α sin (cos  ))+l2 cos α .
∠D1 AB
sin α sin β+cos α cos β
(13)
(13)
l1 sin  cos ( D1 AB ) +l1 cos  sin ( D1 AB ) + l2 cos 
l4 = .
sin  sin  + cos  cos 
Combining the Equations (8)–(13) into Equation (7), the expression for S can be obtained.
Meanwhile, the condition that the mechanism has a crank can be determined as:
Appl. Sci. 2020, 10, 264 8 of 24
Appl.
Appl. Sci.
Sci. 2020,
2020,10,
10,xx FOR
FORPEER
PEER REVIEW
REVIEW 88 of
of 24
24
Combining the Equations (8)–(13) into Equation (7), the expression for S can be obtained.
Meanwhile, the condition that the mechanism has a crank can be determined as:
ll1 ++ll2  ll3 ++ll4
  1 l 2  l 3 4 .
l1+ l2 l≤ 2  l3 l3+ l4 . (14)
(14)
  l 2  l 3



  l2 l≤ 2  l3 l4 . (14)

 2 4
 l2 ≤ l4 oo
angles  ,,  are range 00  10 and 00   10
o
The
The angles are set
set in
in the
the range 10 and 10o,, respectively.
respectively. Based
Based on on the
the
andα, β are set in(14), 0 ≤ αin 0 ≤ β ≤ when
Equation (7) ◦ ◦
Equation (7) and
The angles relationships
relationships the
the change
the range
(14), change in≤SS10can
canand be
be obtained
obtained the
the parameters
10 , respectively.
when parameters ll3 and
Based on the
3 and l4
l4
Equation
change, as (7) and
shown relationships
in Figure 9. (14),
Observing the change
this figure,in Sitcancan be
be obtained
found that
change, as shown in Figure 9. Observing this figure, it can be found that the area S is the smallest whenthe the
area parameters
S is the l
smallest 3 and
and
and l4
change,
its valueasis
its value isshown
2.42 ××in10
2.42 Figure
mm9.
5 mm Observing
2 when the this figure,
the value of
of thetheitparameters
can be foundll33,that
, ll44 are 507.9S mm,
the 507.9
area is theand
smallest
332.5 and
mm,its
5 2
10 when value parameters are mm, and 332.5 mm,
value is 2.42 × 10 5 mm2 when the value of the parameters l , l are 507.9 mm, and 332.5 mm, respectively.
respectively.
respectively. 3 4
9. Parameter optimization
Figure 9.
Figure optimization of the
the folding mechanism.
mechanism.
Figure 9. Parameter
Parameter optimization of
of the folding
folding mechanism.
2.2.2. Force Analysis of the Folding Mechanism
2.2.2.
2.2.2. Force
Force Analysis
Analysis ofof the
the Folding
Folding Mechanism
Mechanism
The force research for the folding mechanism can provide a basis for the selection of the motor,
The
Theasforce
force research
researchandfor
for the
the folding
folding mechanism
mechanism can
can provide
provide aa basis
basis for the selection of
of the
the motor,
as well the setting, optimization of the control parameters. In for
thisthe selection
section, force motor,
analysis is
as
as well
well as
as the
the setting,
setting, and
and optimization
optimization of
of the
the control
control parameters.
parameters. In
In this
this section,
section, force
force analysis
analysis is
is
conducted in detail. The stress analysis diagram is shown in Figure 10.
conducted
conducted in in detail.
detail. The
The stress
stress analysis
analysis diagram
diagram is is shown
shown in
in Figure
Figure 10.
10.
FF2
2 E
E
DD
ll3
3
𝛼𝛼 ll6
6
ll4 FFBy l CC
4 By l2
FFAy 2
Ay M
BB 𝜃M
𝜃11
𝜃𝜃2 ll1
1
yy
AA
2 𝛾𝛾 FFBx xx
Bx
FFAx
Ax
FF1
1
ll5
5
10. Force analysis

Figure 10.
Figure analysis of the
the folding mechanism.
mechanism.
Figure 10. Force
Force analysis of
of the folding
folding mechanism.
According to
According the stress analysis diagram, the force x-axis direction
equation inin can bebe
established as,
According to
tothe
the stress
stressanalysis
analysisdiagram,
diagram, the
the force
force equation
equation in x-axis
x-axis direction
directioncan
can be established
established
as,
as, FAx + FBx = 0 (15)
FFAx ++FFBx == 00 (15)
(15)
Ax Bx
where FAx is the force of the horizontal direction on fulcrum A, and FBx is the force of the horizontal
where FFAx
where
direction
is the
the force
onisfulcrum
Ax
of the horizontal direction on fulcrum A, and F is the force of the horizontal
B.of the horizontal direction on fulcrum A, and FBxBx is the force of the horizontal
force
direction
direction on
on fulcrum
fulcrum B. B.
In
In the meanwhile, the
the meanwhile, the force
force equation
equation in
in y-axis
y-axis direction
direction also
also can
can be
be expressed
expressed as,
as,
FFAy ++ FFBy == FF1 ++ FF2 (16)
Ay By 1 2 (16)
Appl. Sci. 2020, 10, 264 9 of 24
In the meanwhile, the force equation in y-axis direction also can be expressed as,
FAy + FBy = F1 + F2 (16)
where FAy is the force of the vertical direction on fulcrum A, FBy is the force of the vertical direction on
fulcrum B, F1 is the force on the calf support plate, and F2 is the force on the back plate.
So resultant moment on fulcrum A can be obtained as,
1 1

F1 · · l5 · sin θ2 + FBy · l1 · cos(e) − F2 · l2 + l6 · cos θ1 + l1 · cos(e) + M = 0 (17)
2 2
where l5 is the length of the calf support plate, l6 is the length of the back plate, θ1 is the angle between
the back plate and direction of x-axis, θ2 is the angle between the side link 2 and direction of x-axis,
M is the torque of the motor, γ is the angle between the seat plate and the direction of x axis.
Correspondingly, the resultant moment on the fulcrum B can be described as:

F1 · · l5 · cos θ2 + l1 · cos(e) − FAy · l1 · cos(e)
1
2 (18)
−F2 · l2 + 21 l6 · sin θ1 + FAx · l1 · sin(e) + M = 0
In the folding mechanism process, the force applied at the center of the calf support plate can be
equaled by the weight of human lower limbs and mechanism weight of this part; and the force applied
at the center of the back plate can be equaled by the weight of the upper body and the mechanism
weight in this part. According to the standards of ergonomics and adult body size in China [30,31],
the values of parameters l5 , l6 , F1 , F2 are set as 490 mm, 510 mm, 300 N, and 600 N, respectively.
Through the force analysis of l4 and l5 , the resultant moment on point D can be obtained as:
1

F1 · l5 + l4 · cos θ2 + FAx · l4 · sin θ2 − FAy · l4 · cos θ2 = 0. (19)
2
Through the force analysis of l2 and l6 , the resultant moment on point C can be obtained as:
1

− F2 · · l6 + l2 · cos θ1 + M − FBy · l2 · cos θ1 + FBx · l2 · sin θ1 = 0. (20)
2
The following geometric relationships between θ1 and θ2 can be described as:
l4 · cos(θ2 ) + l3 · cos α − l2 · cos θ1 = l1 · cos(e),

(
(21)
l1 · sin(e) = l4 · sin(θ2 ) − l3 · sin α − l2 · sin θ1 .
Merging Equations (15)–(21) by using Matlab software to program, the torque M required by the
folding mechanism can be solved as:
M = 162 cos θ1 . (22)
It is found that the maximum torque is 162 N·m. If such a high output torque is chosen, the size
and power of the motor are too big for the folding mechanism. It is necessary to add a booster device
to the mechanical structure.
2.2.3. Driving Device Computation of the Folding Mechanism

According to the above analysis, the degree of freedom for the folding mechanism is 1, so only
one driving motor is needed to complete the mechanical motion. It is proposed that 24 V DC gear
motor is adopted as the main driving power, and the torsion spring group as the auxiliary driving
power for the motion of the folding mechanism. Since the maximum torque of the gear motor is about
30 N·m, the torsion spring group needs to overcome all the remaining torques; therefore, the designed
Appl. Sci. 2020, 10, 264 10 of 24
torsional spring group includes 6 torsional springs, each of which can withstand a maximum torque of
22 N·m and a maximum torsional angle ϕm = 90◦ .
According to the character of the load, the spring material is determined to be 60Si2MnA, elastic
modulus E is 206 GPa, ultimate tensile strength σb is 1667 MPa, allowable bending stress [σb ] is
1334 MPa.
Based on these parameters, the required spring steel diameter d can be calculated as,
s
Appl. Sci. 2020, 10, x FOR PEER REVIEW 3 32Tn K1 10 of 24
d= ≈ 5.7mm (23)
π [ σb ]
Based on these parameters, the required spring steel diameter d can be calculated as,
where K1 = 1.15 is coefficient of curvature, Tn = 32 22TN·m
K is maximum working torque. According to the
d = 3 diameter
design requirements, the value of the steel wire
n 1
 5.7mm
d should be rounded, so 6 mm should (23)
be taken.
 [ b ]
The effective coil number n of spring can be obtained by the following equation:
where K1 = 1.15 is coefficient of curvature, Tn = 22 N·m is maximum working torque. According to
the design requirements, the value of the steelEd
wire
4 ϕ diameter d should be rounded, so 6 mm should
m
be taken. n= ≈ 7.4 (24)
3667D(Tn − T1 )
The effective coil number n of spring can be obtained by the following equation:
where T1 = 0, D is the mean diameter of coil and D Ed=440 mm. According to the actual working situation,
n= m
 7.4 (24)
the effective winding number of spring is selected 3667 D (as − T1 )
Tn 7.
The
wherestiffT of
=0 the
, D spring is expressed
is the mean diameteras:of coil and D = 40 mm. According to the actual working
1
situation, the effective winding number of spring is selected as 7.

Ed4
T, =as:
The stiff of the spring is expressed = 0.26N·m. (25)
3667D 4· n
Ed
T，= = 0.26Ngm . (25)
Similarly, the free length of the spring can beDcomputed
3667 n as
Similarly, the free length of the spring can be computed as
H0 = n · t + d = 51.5mm (26)
H0 = n  t + d = 51.5mm (26)
where t = 6.5
where t = mm.
6.5 mm.
According to the
According force
to the analysis
force analysisofofthe
thefolding mechanismand
folding mechanism and the
the design
design analysis
analysis oftorsional
of the the torsional
spring, the torque
spring, required
the torque byby
required thethe
motor
motorcancanbe
be calculated as,
calculated as,
Tm = M − T (27)
Tm = M − T (27)
where Tm is the torque of the motor, T is the torque of the spring and T = T ' , 1 =90- .
where TmAccording
is the torque of Equations
to the T is (25),
the motor,(22), the torque of the
and (27), the torque
springvariation T0 ϕ, θ
and T =curve can − ϕ. as
1 =be90plotted,
According to the Equations (22), (25), and (27), the torque variation curve can be plotted,
shown in Figure 11. It is found that the torque of the motor is maximum in  =57 place and its value
o as shown
in Figure
is Tm 11.
=46 ItN·
ismfound that to
. According thethis
torque of thethe
parameter, motor is maximum
performance in ϕ of
parameters = the ◦
57 worm
placegear
andreducer
its value is
Tm = motor
46 N·m. According to this parameter,
can be determined in shown in Table 1.
the performance parameters of the worm gear reducer
motor can be determined in shown in Table 1.
Figure 11. Torque change of folding mechanism.

Figure 11. Torque change of folding mechanism.
Table 1. Parameter list of RV (rotate vector) reduction motor.
Voltage/V Reducer Rated Torque/(N∙m) Rated Power/W Rated Revolution/(r·min−1)

24 1/862 48 200 W 2
Appl. Sci. 2020, 10, 264 11 of 24
Table 1. Parameter list of RV (rotate vector) reduction motor.
Appl. Sci.Voltage/V
2020, 10, x FORReducer Rated Torque/(N·m)
PEER REVIEW Rated Power/W Rated Revolution/(r·min−1
11) of 24
24 1/862 48 200 W 2
Appl. Sci.
2.2.4. 2020, of
Design 10, the
x FOR PEER REVIEW
Folding Mechanism 11 of 24
2.2.4.
2.2.4. Design of
Through
Design of the
the the Folding
above Mechanism
analysis
Folding and computing, the designed folding mechanism is composed of
Mechanism
the foot pedal,
Through the calf support plate, the seat plate and the back plate, as mechanism
shown in Figure 12. These
Through the the above
above analysis
analysis and
and computing,
computing, the the designed
designed folding
folding mechanism is is composed
composed ofof
four
the sections
foot arethe
pedal, assembled
calf together
support plate, by
thethe
seatbolt and
plate thethe
and hinge.
back All theascomponents
plate, shown in of the12.
Figure folding
These
the foot pedal, the calf support plate, the seat plate and the back plate, as shown in Figure 12. These
mechanism
four are shown in Figure 13, which is axonometric drawing.All the components of the folding
four sections
sections are
are assembled
assembled together
together byby the
the bolt
bolt and
and the
the hinge.
hinge. All the components of the folding
mechanism
mechanism are are shown
shown in in Figure
1
Figure 13,
13,2which
which is
is axonometric
3
axonometric drawing.
4
drawing.
1 2 3 4
Figure 12. Vertical view of folding mechanism; 1—the foot pedal, 2—calf support plate, 3—the seat
plate,
Figure4—the back plate.
12. Vertical view of folding mechanism; 1—the foot pedal, 2—calf support plate, 3—the seat
Figure 12. Vertical view of folding mechanism; 1—the foot pedal, 2—calf support plate, 3—the seat
plate, 4—the back plate.
plate, 4—the back plate.
1
2
31
2
4
3
5
4
65
6
7
7
8
12
8
9 12
10
9 11
10
11
Figure
Figure13.13. Axonometric viewofoffolding
Axonometric view foldingmechanism;
mechanism; 1—the
1—the pipepipe structure
structure of theofback
the plate,
back 2—support
plate, 2—
support of the
of the back back3—connecting
plate, plate, 3—connecting plate, 4—armrests,
plate, 4—armrests, 5—backrest
5—backrest fitting,fitting,
6—cushion6—cushion support,
support, 7—leg
Figure 8—the
13. Axonometric view of folding mechanism; 1—the pipe structure
pipeof the back
of plate, 2—
7—leg fitting, 8—the
fitting, pipe structure
pipe structure of the of the9—pedal
leg, leg, 9—pedal connecting
connecting strip, strip,
10—the 10—the pipe structure
structure theof the
pedal,
support
11—the of the back
upperupper plate,
support 3—connecting
plate of the of
seat, plate, 4—armrests, 5—backrest fitting, 6—cushion support,
pedal, 11—the support plate the12—the support
seat, 12—the plate in
support the in
plate seattheside.
seat side.
7—leg fitting, 8—the pipe structure of the leg, 9—pedal connecting strip, 10—the pipe structure of the
pedal, 11—the
Figure
Figure 14 is
14 upper
is the
the backsupport
back diagram
diagramplate
of of
ofthe the
the seat, 12—the
folding
folding support
mechanism.
mechanism. plate
InInFigure in the
Figure seat
14,14, side.
thethe
installation method
installation and
method
position
and of the
position of six
thesprings are pointed
six springs out, and
are pointed out, the
andinstallation method
the installation of theofworm
method gear and
the worm gearworm
and
Figure
reducer 14 is
motormotorthe back
and torsion diagram of
springspring the
is given. folding mechanism. In Figure 14, the installation method
worm reducer and torsion is given.
and position of the six springs are pointed out, and the installation method of the worm gear and
worm reducer motor and torsion spring is given.
Appl. Sci.
Appl. Sci. 2020, 10, x264
2020, 10, FOR PEER REVIEW 12of
12 of 24
24
Appl. Sci.Sci.
Appl. 2020, 10, 10,
2020, x FOR PEER
x FOR REVIEW
PEER REVIEW 12 12
of 24
of 24
1 2 3 4 5
1 12 23 34 45 5
Figure
Figure 14. Back
14. Back
Back mechanism
mechanism
mechanism diagram
diagram
diagram of
of the
of wheelchair-stretcher
wheelchair-stretcher
thethe
wheelchair-stretcher robot;
robot; 1—the
1—the
1—the support
support
support plate
plate of
of the
the
Figure 14. Back mechanism diagram of wheelchair-stretcher robot; 1—the support plate of the
spring,
spring, 2—motor,
2—motor, 3—spring
3—spring
3—spring seat,
seat,
seat, 4—torsional
4—torsional
4—torsional spring,
spring,
spring, 5—Rubber
5—Rubber
5—Rubber cushion
cushion
cushion for
for the
the
forfor backrest.
backrest.
thethe
backrest.
spring, 2—motor, 3—spring seat, 4—torsional spring, 5—Rubber cushion backrest.
2.3. Design of
Design
2.3.2.3.
Design of the
of the Lifting
the Lifting Mehanism
Lifting Mehanism and
Mehanism and Toilet
and Toilet Mechanism
Mechanism
Design of the Lifting Mehanism and Toilet Mechanism
When
When
When docking
docking
docking with
with
with the
the
thethebed
bed
bed or
or orthe toilet,
thethe
toilet, the height needs
height
thethe
height needs to
needs be
to to often
be be
often adjusted; so
adjusted;
adjusted; so the
so the lifting
the lifting
lifting
When docking with bed toilet, height needs often adjusted; so the lifting
mechanism
mechanism is
is designed.
designed.
is designed. Considering
Considering
Considering the
thedocking
docking
thethe
docking demand
demand
demand in the
in family
the
in in family
thethe
familyenvironment,
environment,
environment, the height
the
thethe of the
height
height of
of of
mechanism is designed. Considering docking demand family environment, height
lifting
the
thethe mechanism
lifting
lifting mechanism
mechanism is theis range
the
is the 480
range
range mm–680
480
480480mm–680
mm–680mm. For
mm.
mm. safety,
For 24
safety,
ForFor
safety,V DC
24 power
V
24 24 DC
V DC is supplied.
power
power is In
supplied.
is supplied. the lifting
In the
In In
thethe
lifting mechanism is the range mm–680 mm. safety, V DC power is supplied.
process,
lifting considering
process, the compact
considering the structurestructure
compact and the balance,
and the linear
balance,actuators
linear are arranged
actuators are on both sides
arranged on
lifting process, considering the compact structure and the balance, linear
lifting process, considering the compact structure and the balance, linear actuators are arranged actuators are arranged onon
for
both pushing
sides forand two
pushing linear
and guideways
two linear on each
guideways side
on are
eachequipped
side are to realize
equipped the
to vertical
realize lifting
the and
vertical
bothbothsides forfor
sides pushing
pushing andand twotwolinear
linearguideways
guideways ononeach
each side areare
side equipped
equipped to to
realize
realizethethevertical
vertical
ensure and
lifting goodensure
parallelism
good between the two
parallelism linear actuators.
between the two In order
linear to realize In
actuators. theorder
synchronous
to control
realize the
lifting and ensure good parallelism between the two linear
lifting and ensure good parallelism between the two linear actuators. In order to realizeactuators. In order to realize thethe
of both sides, control
synchronous linear displacement
of both sides, sensor
linear is used to control
displacement theisreal-time
sensor used to position.
control theThe designposition.
real-time diagram
synchronous
synchronous control
controlof both
of both sides, linear
sides, displacement
linear displacement sensor
sensor is used to control
is used to controlthethe
real-time
real-time position.
position.
of the
The wholediagram
design mechanism of theis whole
shownmechanism
in Figures 15 is and 16.in Figures 15 and 16.
The Thedesign
designdiagram
diagram of of
thethewhole
wholemechanism
mechanism is shown
shown
is shown in in
Figures
Figures15 15
andand16.16.
1 2 3 4 5
1 1 2 2 3 3 4 4 5 5
Figure 15.
Figure Theupper
15. The uppersupport
supportplate
plateofofthe
theseat;
seat;1—linear
1—linearguideguide on
on the
the left,
left, 2—the
2—the upper
upper support
support plate
plate of
Figure 15.15.
Figure TheThe
upper support
upper plate
support of the
plate seat;
of the 1—linear
seat; 1—linear guide
guideon on
thethe
left,left,
2—the upper
2—the support
upper plate
support plateof of
of
thethe seat,
seat, 3—Linear
3—Linear displacement
displacement sensor,
sensor, 4—the
4—the seat
seat of of
thethe linear
linear actuator,
actuator, 5—linear
5—linear guide
guide onon the
the left.
left.
thethe
seat, 3—Linear
seat, displacement
3—Linear sensor,
displacement sensor,4—the
4—theseatseat
of the linear
of the actuator,
linear actuator, 5—linear guide
5—linear on on
guide thethe
left.left.
1 2 3 4 5 6
1 1 2 2 3 3 4 4 5 5 6 6
Figure 16. The lower support plate of the seat; 1—guide block on the left, 2—the linear actuator,
Figure
Figure 16. The
16.16.
The lower
lower support plate of
of the seat; 1—guide block on the left, 2—the linear actuator, 3—
Figure
3—welding The
support ofsupport
lower support
the plate
linear plate the
actuator, seat;
of the 1—guide
seat;
4—the 1—guide
seat block
of the onactuator,
block
linear thethe
on left,left,
2—the linear
2—the
5—guide actuator,
linear
block 3—3—
onactuator,
the right,
welding
welding support
support of
of the
the linear
linear actuator,
actuator, 4—the
4—the seat
seat of
of the
the linear
linear actuator,
actuator, 5—guide
5—guide block
block on
on the
the right,
right,
welding
6—the lowersupport
supportofplate
the linear
of theactuator,
seat. 4—the seat of the linear actuator, 5—guide block on the right,
6—the
6—the lower
lower support
support plate
plate of
of the
the seat.
seat.
6—the lower support plate of the seat.
Appl. Sci. 2020, 10, 264 13 of 24
In order to achieve the patients or the elderly toilet, the push and pull mechanism is used. Firstly,
In order to achieve the patients or the elderly toilet, the push and pull mechanism is used. Firstly,
the height
In of the
order seat plate
to achieve ispatients
theis adjusted, andelderly
or and
the then the left pad and the right pad in the toilet mechanism
the height of the seat plate adjusted, then thetoilet, the push
left pad and
and the pullpad
right mechanism is used.
in the toilet Firstly,
mechanism
are height
the pulled of to the
the seat
sidesplate
to goisto the toilet
adjusted, forthen
and the elderly.
the left When
pad the
and elderly
the right finish
pad in the
the toilet,
toilet the left pad
mechanism
are pulled to the sides to go to the toilet for the elderly. When the elderly finish the toilet, the left pad
andpulled
are the right padsides
to pad
the are pushed
to go tototo
thethe original position. The movement diagram andtoilet,
design
thedrawing
and the right are pushed thetoilet for the
original elderly.
position. TheWhen the elderly
movement finish
diagram andthedesign drawingleft pad
for
for the
and the toile
rightmechanism
pad are are shown
pushed to inoriginal
the Figuresposition.
17 and 18. The movement diagram and design drawing
the toile mechanism are shown in Figures 17 and 18.
for the toile mechanism are shown in Figures 17 and 18.
Left pad Right pad
Left pad Right pad
Left push Right push

bracket
Left push bracket
Right push
bracket bracket
Linear actuator
Linear actuator
Figure 17. The movement diagram of the toilet mechanism.
3
2
3
2
1
1
4
4
5
5
6
6
7
7
Figure 18. The

Figure 18. Thedesign
designdrawing
drawingofofthethe
toilet mechanism;
toilet mechanism;1—the left pad,
1—the 2—the
left pad, right right
2—the pad, 3—back slide,
pad, 3—back
4—the
Figure right
slide, 4—the plate,
18. Theright 5—front slide,of
plate,drawing
design 5—front 6—the
slide, frontmechanism;
6—the
the toilet sliding block,1—the
front sliding 7—theleft
block, leftpad,
7—the plate.
left plate.right pad, 3—back
2—the
slide, 4—the right plate, 5—front slide, 6—the front sliding block, 7—the left plate.
3.
3. Control
Control System
System Design
Design of of the
the Wheelchair-Stretcher
Wheelchair-Stretcher Assistive
Assistive Robot
Robot
3. Control System Design of the Wheelchair-Stretcher Assistive Robot
The control system of the wheelchair-stretcher assistive robot includes 4 motors for the walking
The control system of the wheelchair-stretcher assistive robot includes 4 motors for the walking
mechanism, 2 linear actuators for toilet mechanism, 2 linear actuators for lifting mechanism, and 1 motor
mechanism, 2 linear
The control actuators
system for toilet mechanism,assistive
of the wheelchair-stretcher 2 linearrobot
actuators for lifting
includes 4 motors mechanism, and 1
for the walking
for folding mechanism
motor for folding mechanismand several sensors. The whole system is controlled by a remote control.
mechanism, 2 linear actuatorsand for several sensors. The2whole
toilet mechanism, linear system
actuators is controlled
for lifting by a remote control.
mechanism, and 1
The
The remote
remote
controller
controller
transmits
transmits
instructions
instructions
to
tothe
themain
main
control
control
board,
board,
and the
theradio
frequency board,
motor for folding mechanism and several sensors. The whole system is and
controlledradio
by frequency board,
a remote control.
connected
connected to the
themain control
controlboard, receives signals and performs corresponding actions according to
The remotetocontroller
maintransmits board, receives
instructions tosignals and
the main performs
control board, corresponding
and the radioactions according
frequency board,
the control
to the instructions.
control The hardware
instructions. The control
hardware block diagram
control block of the whole thesystem
wholeissystem
shown isin shown
Figure 19.
connected to the main control board, receives signals and diagram
performsof corresponding actions according in
FigureToilet
19. mechanism control and folding mechanism control are relatively simple, both are open-loop
to the control instructions. The hardware control block diagram of the whole system is shown in
position control, which is not described here. The control of the walking mechanism and lifting
Toilet
Figure 19. mechanism control and folding mechanism control are relatively simple, both are open-
mechanism
loop Toilet
position involves
control,the position
which is not feedback problem,
here. Theand the control processmechanism
is relatively complex.
mechanism control anddescribed
folding mechanism control
controlof the
are walking
relatively simple, bothand are lifting
open-
Therefore,
mechanism a detailed analysis is made on these two parts.
loop positioninvolves
control, the position
which is not feedback
describedproblem,
here. Theand the control
control processmechanism
of the walking is relativelyandcomplex.
lifting
Therefore, a involves
mechanism detailed analysis
the positionis made on these
feedback two parts.
problem, and the control process is relatively complex.
Therefore, a detailed analysis is made on these two parts.
Appl.
Appl.Sci. 2020,10,
Sci.2020, 10,264
x FOR PEER REVIEW 14 14
of of
2424
power supply
DC power
DC supply
switchboard
Powerswitch
Power board 24V
24V
drive circuit 11
drive circuit Servo motor
Servo motor 11
Incremental pulse
Incremental pulse Incremental
11 Incremental Walking
Walking
encoder 11
encoder mechanism
mechanism
…… control
control
……
Incremental pulse
Incremental Incremental
Incremental
CAN
CAN 44 encoder 44
encoder
STM32
STM32 BUS
BUS
Relay control
Relay
main
main Information
Information module
module
RV reduce
RV motor
reduce motor Folding
Folding
control
control captureunit
capture unit mechanism
mechanism
mechanical limit
mechanical limit control
control
panel
panel
GPIO
GPIO
Relay control
Relay control
actuator3-4
Linear actuator
Linear 3-4
module 3-4
module Lifting
Lifting
Radio
Radio mechanism
mechanism
frequency
frequency Linear displacement
Linear displacement control
control
A/D switch
A/D switch
board
board sensor
sensor
Relay control
Relay control
control
Remotecontrol Linear actuator1-2
Linear actuator 1-2
Remote module 1-2
module 1-2 Toilet
Toilet
mechanism
mechanism
Limit control
control
Limit switch
switch
Control19.
Figure 19. Figure block diagram
Control blockofdiagram
diagram of the assistive robot.
wheelchair-stretcher STM32: STMicroelectronics
assistive
Figure 19. Control block of assistive robot.
robot.STM32:
STM32:
32-bits Microcontroller; GPIO: general purpose input/output; RV: rotate vector.
STMicroelectronics 32-bits Microcontroller; GPIO: general purpose input/output;RV:
STMicroelectronics 32-bits Microcontroller; GPIO: general purpose input/output; RV:rotate
rotatevector
vector
3.1. Control of the Walking Mechanism
The walking mechanism mainly realizes six kinds of motions, which are forward, backward,
The walking mechanism mainly realizes six kinds of motions, which are forward, backward, left,
left, The walking
right, turning mechanism
both sides. mainly realizes
The main six kinds oftransmits
control motions, which are forward,
pulsesbackward, left,
right, turning both sides. The main control board board
transmits four PWM fourpulses
PWM respectivelyrespectively
to control to
right,
control turning both
the walking sides.
mechanism. The main control
In order board
to ensure transmits four PWM pulses respectively to control
the walking mechanism. In order to ensure the the accuracy
accuracy of the
of the moving
moving process,
process, thethe compound
compound
the walking
position mechanism.
control method is In order to
adopted to ensure the
control six accuracy
kinds of of the moving
motion. The process,
so-called the compound
composite motion
position control method is adopted to control six kinds of motion. The so-called composite motion
position
adopts control
velocity method
control is adopted
between two to control
discrete six kinds
position of motion.
nodes and The the
detects so-called
positioncomposite
at the motion
same time.
adopts velocity control between two discrete position nodes and detects the position at the same time.
adopts velocity control between two discrete position nodes and detects the position at the same time.
TheTheposition error
position ofof
error this
thisnode
nodeisistaken
takenasaspart
part of
of the theoretical
theoreticalvelocity
velocitycontrol
controlofofthe
thenext
next node
node andand
The position error of this node is taken as part of the theoretical velocity control of the next node and
thethe
theoretical velocity
theoretical velocityisiscorrected.
corrected.The
Thecontrol
control block
block diagram
diagram isis shown
shownininFigure
Figure20.20.
the theoretical velocity is corrected. The control block diagram is shown in Figure 20.
vd
vd
Pd △Pe △ve Speed PI
Pd △Pe P △ve Speed PI PWM H bridge Motor Mecanum wheel
P algorithm PWM H bridge Motor Mecanum wheel
algorithm
vr
pr vr Velocity
pr E
Velocity
transformation E
transformation
Position
Position
transformation
transformation
Figure 20. Control block diagram of compound position control method.
Figure 20.Control
Figure20. Control block
block diagram
diagram of compound
compound position
positioncontrol
controlmethod.
method.
According to the figure, the position error of this node due to speed control is,
According to the figure, the position error of this node due to speed control is,
Appl. Sci.
Appl. Sci. 2020, 10, 264
2020, 10, x FOR PEER REVIEW 15
15 of 24
of 24
p = p − p (28)
According to the figure, the position errore of this
d r
node due to speed control is,
where pd is the reference value of the position, pr is the real value of position detected by the
∆pe = pd − pr (28)
controller.
whereThe
p velocity
d
of the next
is the reference valuenode is:position, p is the real value of position detected by the controller.
of the r
The velocity of the next node is: vd = Ppe + vd . (29)
v0 d = P∆pe + vd . (29)
3.2. Control of the Lifting Mechanism

The control block diagram of the lifting mechanism is shown in Figure 21. 21. This part adopts the
position
position closed-loop
closed-loopcontrol, and and
control, the modified PWM value
the modified PWM canvalue
be obtained
can bethrough the transformation
obtained through the
of real-time monitoring
transformation position
of real-time information.
monitoring position information.
Master Dc motor drive Milang electronic

Set PWM value Linear actuator
controller module ruler
data position
sampling detection
Speed conversion A/D switch
Figure 21. Control block diagram of the lifting mechanism.

Figure 21. Control block diagram of the lifting mechanism.
The process is as follows: firstly, we assume that the same PWM values of the two linear actuators
The process
are given as, is as follows: firstly, we assume that the same PWM values of the two linear
actuators are given as, PWM = PWM (30)
1 2
PWM1 =PWM2
where PWM1 is the value of the linear actuator L1 , PWM2 is the value of the linear actuator, L2 . (30)
where time t, the
At PWM output
is the valuevoltage values
of the linear of the two
actuator L1 , electronic
PWM2 is rulers U1the
are of
the value , Ulinear
2 . Since the output
actuator, L2 .
1
voltage of the linear displacement sensor is linearly related to the moving displacement, the moving
At time t , the output voltage values of the two electronic rulers are U1 , U 2 . Since the output
displacement of the two electronic rulers can be described as,
voltage of the linear displacement sensor is linearly related to the moving displacement, the moving
displacement of the two electronic rulers canSbe=described
U1 ·Kd , as,
1
(31)
S2S1==U gKdd，
U21·K
(31)
S2 = U 2 gK d
where Kd is the proportional coefficient.
TheKvelocity
where d
is the proportional coefficient.
difference of the two linear actuators in time t can be computed as,
The velocity difference of the two linear actuators in time t can be computed as,
∆S S − S2
∆V = V1 − V2 = S= S 1 − S . (32)
V = V1 − V2 = t = 1 t 2 . (32)
t t
where V1 is the velocity of the linear actuator L1 , V2 is the velocity of the linear actuator L2 .
whereTheVdata
1
is the velocity
of the linearofactuator
the linear
L1actuator , Vreference
is used asL1the 2
is the velocity of the
value, and thelinear of theLlinear
actuator
velocity 2
.
The Ldata
actuator 2 canofbethe linear actuator
modified as: L1 is used as the reference value, and the velocity of the linear
actuator L2 can be modified as: V2 = ∆V + V1 . (33)
2
= V + V1 . to the duty cycle, it can be described as,
Since the velocity of the motor is directlyVproportional (33)
Since the velocity of the motor is directlyVproportional
= Kγ ·γ to the duty cycle, it can be described (34)
as,
V = K g (34)
where Kγ is the assuming proportional coefficient, γ is the duty cycle.
where K  is thetoassuming
According Equationsproportional
(33) and (34),coefficient,  isofthe
the duty cycle theduty cycle.
linear actuator L2 can be modified as:
According to Equations (33) and (34), the duty cycle of the linear actuator L2 can be modified
V2 ∆V V1
as: γ2 = = + . (35)
Kγ Kγ Kγ
Appl. Sci. 2020, 10, 264 16 of 24
The position closed-loop control for the lifting mechanism is conducted by the STM32 chip.
So PWM pulse modulation mode and ADC mode of STM32 are used in the process of control program
design, and duty cycle can be calculated by the following formula,
CCRx
γ= (x = 1, 2) (36)
(ARR + 1)
where CCRx is comparison value, ARR is value of automatic reload register in the stm32 chip.
So the modified duty cycle γ2 of the linear actuator L2 can be obtained as:
V2 CCR1 Kd (U1 − U2 )
γ2 = = + . (37)
Kγ (ARR + 1) Kγ t
According to the above analysis, the coordination control of the lifting mechanism can be completed.
4. Experimental Research of the Wheelchair-Stretch Assistive Robot
4.1. Experimental Research of the Walking Mechanism

In order to evaluate the performance of the compound position control method and verify the
correctness of the kinematic equations, experimental research of the walking mechanism is conducted.
First of all, the design parameters of the walking mechanism are shown in Table 2.
Table 2. Parameter value list of the walking mechanism.
Parameter Value Parameter Value

The velocity of the motor 4900 r/min Reduction ratio for reducer 1:80
Radius R of the mecanum wheel 63.5 mm Bias angle α 45◦
m1 272 mm m2 451.5 mm
According these parameters, the corresponding jacobian matrix can be computed as:
 1 1 −723.5 
 63.5 63.5 63.5 
 −1 1 723.5 
63.5 63.5 63.5
 
J1 =  −1 1 −723.5
.
 (38)
63.5 63.5 63.5
 

1 1 723.5 
63.5 63.5 63.5
The motion profile exhibits 1.0 m parallel motions along the y-axis of the global coordinate frame.
In addition, the trajectory consists of acceleration for 4 s followed by deceleration for 4 s. The profile is
formed by a 5th order polynomial equation, as shown in Figure 22a. Based on the profile, Equations (5)
Appl. Sci. 2020, 10, x FOR PEER REVIEW
and (37), the theoretical curves for the velocity of the motor could be obtained, as shown17inofFigure
24
22b.
(a) (b)
Figure
Figure 22. 22. Trajectory
Trajectory planning
planning of the
of the walking platform
walking platform and thethe
and motor; (a) trajectory
motor; planning
(a) trajectory for the for the
planning
center of the walking platform; (b) the motion curve for four motors of the mecanum wheel.
The following conclusions can be drawn from the Figure 22b:
(1) In the mobile process, the trajectories of the four motors for the mecanusm wheel are the same,
which is identical to the theoretical analysis.
(2) The maximum velocity of the motor is less than the rated velocity (4900 r/min ≈ 81.6 r/s) and the
motion curve is suitable to the experimental requirements.
(a) (b)
Appl. Sci.Figure
2020, 10,22.
264Trajectory planning of the walking platform and the motor; (a) trajectory planning for17
the
of 24
The following
The conclusions
following cancan
conclusions be be
drawn from
drawn thethe
from Figure 22b:
Figure 22b:
(1)(1) InIn
the mobile
the process,
mobile the
process, thetrajectories ofof
trajectories the four
the fourmotors
motors forfor
the mecanusm
the mecanusm wheel
wheelareare
thethesame,
same,
(2)(2) The
Themaximum
maximum velocity of of
velocity thethe
motor
motoris less than
is less thanthethe
rated velocity
rated (4900
velocity r/min
(4900 ≈ 81.6
r/min r/s)r/s)
≈ 81.6 and thethe
and
TheThesimulation
simulationdata is processed,
data and and
is processed, the corresponding
the correspondingbinary files can
binary becan
files obtained. Then, the
be obtained. datathe
Then,
aredata
imported into the control
are imported into the system to control
control systemthe to robot’s
controlmotion in the experimental
the robot’s motion in theenvironment
experimental
under a normal position
environment under a control
normal method,
positionwhich means
control method,position control
which meanswithout the feedback
position function)the
control without
and compound position control method, as shown in Figure 23a. Data collection is
feedback function) and compound position control method, as shown in Figure 23a. Data collection conducted every
100isms, so 80 data
conducted samples
every can so
100 ms, be 80
obtained during the
data samples canwhole movement
be obtained (100the
during × 80 =movement
mswhole 8 s). These(100
datams
can× 80
be =processed to obtain the real position of the robot under normal conditions and under
8 s). These data can be processed to obtain the real position of the robot under normal conditionscomposite
position control,
and under as shown
composite in Figure
position 23b. as shown in Figure 23b.
control,
(a) (b)
Figure
Figure 23.23.
TheThe walking
walking testtest experiment
experiment of of
thethe robot;
robot; (a)(a)
testtest environment
environment of of
thethe robot;
robot; (b)(b)
thethe velocity
velocity
change of the linear actuators L
change of the linear actuators L1 and L2.
1 and L2.
Observing
ObservingFigure 23b,
Figure thethe
23b, following conclusions
following could
conclusions be be
could obtained:
obtained:
(1)(1) The
Thewaveform
waveform forfor
the normal
the normalposition control
position shows
control shows steady-state positioning
steady-state error
positioning notnot
error only forfor
only
the x-axis but also for the y-axis. On the contrary, the compound position control can achieve
the x-axis but also for the y-axis. On the contrary, the compound position control can achieve a a
successful
successfulresult inin
result nonosteady-state error.
steady-state error.
(2) In data node 80, the position of the robot for the compound position control is 995.6 mm and
there is a 4.4 mm deviation from the theoretical value 1000 mm.
Based on the above experiment analysis, we can understand that the compound position method
is not suitable for the precise control requirements, but it is enough for the control of the walking
mechanism of the stretcher-wheel assistive robot as control accuracy is undemanding.
4.2. Experimental Research of the Folding Mechanism

The driving device of the folding mechanism is shown in Figure 24. In order to verify the reliability
of the folding mechanism and the feasibility of the driving device, different weight experimenter
is used for verification. First, the experimenters lay flat on the wheelchair-stretcher assistive robot,
and then the folding mechanism is transformed, as shown in Figure 25. The whole moving process is
stable and the mechanism folds smoothly, which indicates that the force of the torsion spring plays a
role in balancing the weight of the equipment and the human body. Since the change of current reflects
the change of force, the current equipment is used to test the change of motor current. The test curve is
shown in Figure 26, and the following three conclusions can be drawn.
reliability of the folding mechanism and the feasibility of the driving device, different weight
experimenter
The driving is used for of
device verification.
the foldingFirst, the experimenters
mechanism is shown in lay flat 24.
Figure on the wheelchair-stretcher
In order to verify the
reliability of the folding mechanism and the feasibility of the driving
assistive robot, and then the folding mechanism is transformed, as shown in Figure 25. The device, different weight
whole
experimenter
moving processisisusedstableforand
verification. First, thefolds
the mechanism experimenters
smoothly, lay flat indicates
which on the wheelchair-stretcher
that the force of the
assistive
torsion robot,
spring and athen
plays rolethe folding mechanism
in balancing the weight is of
transformed, as shown
the equipment and thein Figure
human25. The Since
body. wholethe
Appl. Sci. 2020,
moving 10, 264 is stable and the mechanism folds smoothly, which indicates that the force of 18
process theof of
24
change of current reflects the change of force, the current equipment is used to test the change
torsion
motor springThe
current. playstesta curve
role inisbalancing
shown inthe weight
Figure 26,ofandthethe
equipment
following and the conclusions
three human body.canSince the
be drawn.
change of current reflects the change of force, the current equipment is used to test the change of
motor current. The test curve is shown in Figure 26, and the following three conclusions can be drawn.
Figure 24. The

Figure 24. The driving
driving device
device of
of folding
folding mechanism.
mechanism.
(1) From the perspective Figure of the 24. The driving
curve, device ofconsistent
it is basically folding mechanism.
with the variation law of the motor
(1) From the perspective of the curve, it is basically consistent with the variation law of the motor
torque curve simulated in Figure 11, which verifies the correctness for the theoretical analysis of
(1) torque
From curve
the perspective
simulatedofinthe curve,
Figure 11,it which
is basically consistent
verifies with the for
the correctness variation law of theanalysis
the theoretical motor of
the driving device.
torque curve
the driving device. simulated in Figure 11, which verifies the correctness for the theoretical analysis of
(2) The the rated
drivingcurrent
device. of the motor is 8.3 A. When the tester is 90 kg, the actual maximum current
(2) The rated current of the motor is 8.3 A. When the tester is 90 kg, the actual maximum current
measured
(2) measured
The ratedis iscurrent
8.26 A, so themotormaximum carrying capacity of the whole equipment is 90 kg.
8.26 A,ofsothe the maximumis 8.3 A. When capacity
carrying the testerof is the
90 kg, the equipment
whole actual maximum current
is 90 kg.
(3) At the later
measured stage
is 8.26 of
A, the
so movement
the maximum process,
carrying the motion
capacity of curves
the fluctuate
whole obviously,
equipment is 90 because the
kg.
(3) At the later stage of the movement process, the motion curves fluctuate obviously, because the
experimental
(3) experimental
At the later stagepersonnel adjusted their
of the adjusted
movement posture,
process, resulting
the motion in fluctuations
curves in the force
fluctuate obviously, applied
because the on
personnel their posture, resulting in fluctuations in the force applied on
the back. whenpersonnel
experimental the back of the wheelchair
adjusted is folded
their posture, from in
resulting a horizontal
fluctuationsposition to a nearly
in the force appliedvertical
on
the back. when the back of the wheelchair is folded from a horizontal position to a nearly vertical
the back.the
position, when the back
center of the wheelchair
of gravity is folded
slips relatively from the
during a horizontal position because
folding process to a nearly vertical
the rotation
position, the center of gravity slips relatively during the folding process because the rotation
position,
center thehip
of the center
jointofand
gravity slipsof
the back relatively during the
the wheelchair do notfolding process
coincide, because
which causesthethe
rotation
body to
center of the hip joint and the back of the wheelchair do not coincide, which causes the body to
center
lift of the hip joint and the back of the wheelchair do not coincide, which causes the body to
frequently.
lift frequently.
lift frequently.
(a)
(a) (b)
(b) (c) (c)
Figure
Figure 25.Folding
25.
25. Foldingprocess
process of
of the
wheelchair-stretcher robot;
robot;(a)
(a)lying
lyingonon
the back
the posture;
back (b)(b)
posture; in the
in the
the
folding
folding process;(c)
process;
process; (c)end
(c) endof
end offolding.
of folding.
folding.
9 60kg
8 70kg
80kg
7 90kg
6
Current/A
0
0 2 4 6 8 10
Time/S
Figure
Figure 26. Current of
26. Current of the
the motor
motor at
at different
different weights.
weights.
4.3. Experiment Research of the Lifting Mechanism and the Toilet Mechanism
(1) Experiment Research of the Lifting Mechanism
The automatic lifting function experiment mainly tests the synchronization of the robot in the
3
0
0 2 4 6 8 10
Appl. Sci. 2020, 10, 264 19 of 24
Time/S
Figure 26. Current of the motor at different weights.

The automatic lifting function experiment mainly tests the synchronization of the robot in the
process ofautomatic
The rising andlifting
fall onfunction experiment
both sides. mainly tests
The experimental theissynchronization
height of themm;
set in the range 0–100 robot
thein the
curve
process
is formedof by
rising and order
the fifth fall onpolynomial
both sides.equation
The experimental
and the motionheight is set
time is 8ins. the
Therange 0–100
position andmm; the
velocity
curve
curvesisof
formed by the
the lifting fifth orderunder
mechanism polynomial equation state
the theoretical and the
canmotion time isas8 shown
be obtained, s. The position
in Figure and
27.
velocity curves of parameters
The performance the lifting mechanism
of the milangunder the theoretical
electronic ruler and state
linearcan be obtained,
actuator are shownas shown
in Tablein3.
Figure 27. The the
By comparing performance
parameters parameters of and
in Figure 27 the milang
Table 3, electronic
it is foundruler andplanned
that the linear actuator
trajectoryareisshown
within
in
theTable
range3.ofBy comparing the parameters in Figure 27 and Table 3, it is found that the planned
motion.
trajectory is within the range of motion.
Figure
Figure27.
27.Trajectory
Trajectoryplanning
planningof
of the
the lifting
lifting mechanism.
mechanism.
Table 3.
Table Performanceparameters
3. Performance parametersof
ofthe
themilang
milangelectronic
electronic ruler
ruler and
and linear
linear actuator.
actuator.
Name
Name Voltage
Voltage Range Maximum
Range Maximum Velocity Resolution
Velocity ResolutionRatio
Ratio Output Type
Output Type
Milangelectronic
Milang electronic ruler
ruler 12~24VV 0~300
12~24 0~300
mmmm 10 m/s
10 m/s 0.01mm
0.01 mm 0~5 VV
Linear actuator
Linear actuator 2424VV 0~300
0~300
mmmm 25 mm/s
25 mm/s ---— —
---
The
The position
position close
closeloop
loopcontrol
controlmethod
methodisisused
usedtotocontrol
controlthethemotion
motionof ofthe
thelifting
liftingmechanism,
mechanism,
and the output voltage of the milang electronic ruler could be measured by applying
and the output voltage of the milang electronic ruler could be measured by applying the A/D conversion the A/D
conversion
function in function
the STM32 in chip.
the STM32 chip. Thetime
The sampling sampling time
is 10 ms, andis the
10 average
ms, and voltage
the average voltage by
is calculated is
calculated by collecting 10 times of data. The position difference between linear actuator
collecting 10 times of data. The position difference between linear actuator L1 and L2 can be obtainedL1 and L2 can
be
byobtained by the of
the conversion conversion of the
the average average
voltage, andvoltage,
the valueand
of the value
linear of linear
actuator L2 isactuator L2 is modified.
modified.
The time interval of each updating data value is 130 ms; therefore, in the process of the whole
movement, a maximum of 61 data samples could be saved. The curves of the position and velocity are
formed by using 61 data samples, as shown in Figure 28.
Observing Figure 28, the following conclusions could be obtained:
(1) The real position trajectories of the linear actuators L1 and L2 are stable and fluctuation is not
obvious. The position close loop control strategy is suitable for the lifting mechanism.
(2) To ensure that the position of the linear actuator L1 , the velocity of the linear actuator L2 slightly
larger than the velocity of the linear actuator L1 .
90 L1
80 20 L1
Appl. L2
70Sci. 2020, 10, x FOR PEER REVIEW 20 of 24
Velocity (mm/s)
L2
Position (mm)
60 15
50The
time interval of each updating data value is 130 ms; therefore, in the process of the whole
Appl. Sci. 2020, 10,a264
movement,
40 maximum of 61 data samples could be saved.
10 The curves of the position and velocity
20 of 24
are30formed by using 61 data samples, as shown in Figure 28.
20 5
10100 25
0 90 0
L1
801 4 7 10 13 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61 20 L113 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61
1 4 7 10
L2
Velocity (mm/s)
70 Data sample L2 Data sample
Position (mm)
60 15
50 (a) (b)
40 10
Figure
30 28. The position and velocity change in test experiment of the lifting mechanism; (a) the
20
position change of the linear actuators L1 and L2; (b) the 5velocity change of the linear actuators L1 and
10
L2. 0
0
1 4 7 10 13 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61 1 4 7 10 13 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61
Observing Figure 28, the
Data following conclusions could be obtained:
sample Data sample
(a)
(1) The real position trajectories of the linear actuators L1 and L2 are stable (b) and fluctuation is not
obvious.
Figure
Figure The
28.28. position
TheThe position
position close
and and loop control
velocity
velocity instrategy
change
change is suitable
in experiment
test test experiment for
of theof thelifting
the
lifting lifting mechanism.
mechanism;
mechanism; (a) the(a) the
position
(2) change
Toposition
ensure
of the linear actuators L1 and L2 ; (b) the velocity change of the linear actuators L1 and L2 . 2 slightly
that
changetheof position
the linear of the linear
actuators L actuator
1 and L L
2; (b) the , the
1velocityvelocity
change of
of the
the linear
linear actuator
actuators L L
1 and
larger than the velocity of the linear actuator L1.

L 2 .
In addition, tests also are conducted by multiple groups of passengers and the results show
In addition, tests also
28,aretheconducted by multiplecould groups of passengers and the results show that
that theObserving
robot runs Figure
smoothly following
and conclusions
passengers do not feel be theobtained:
deviation of movement as shown in
the robot runs smoothly and passengers do not feel the deviation of movement as shown in Figure
Figure 29. real
It also indicates that theofcontrol algorithm ofL1the lifting
L2 aremechanism is in line with notthe
29.(1) The
It also position
indicates thattrajectories
the control the linear
algorithm actuators
of the lifting andmechanism stable andline
is in fluctuation
with theisdesign
design obvious.
requirements.
requirements. The position close loop control strategy is suitable for the lifting mechanism.
(2) To ensure that the position of the linear actuator L1, the velocity of the linear actuator L2 slightly
larger than the velocity of the linear actuator L1.
In addition, tests also are conducted by multiple groups of passengers and the results show that
the robot runs smoothly and passengers do not feel the deviation of movement as shown in Figure
29. It also indicates that the control algorithm of the lifting mechanism is in line with the design
requirements.
(a) (b)
Figure 29. Experiment research of the lifting mechanism; (a) state 1 in the lifting process; (b) state 2 in
the lifting process.
(2) Experiment
(2) Experiment research
research ofof
thethe toilet
toilet mechanism
mechanism
(a) (b)
The control
The control of of the
the toilet
toilet mechanism
mechanism is is relatively
relatively simple.
simple. In In order
order to to test
test its
its function,
function, thethe current
current
test Figure is
method 29.used
Experiment
to research
detect its of the lifting mechanism;
movement process. (a) statepassengers
Firstly, 1 in the liftingon
process;
the (b) state
robot 2 in up by
stand
test method is used to
the lifting process.
detect its movement process. Firstly, passengers on the robot stand up by relying
on the armrest, and then hold the open button on the remote control for the opening and closing of the
toilet
(2) mechanism,
Experimentas shownofinthe
research Figure
toilet30a,b.
mechanism
In the process of moving, the current values of the left and right linear actuators of the toilet
The control of the toilet mechanism is relatively simple. In order to test its function, the current
mechanism are recorded, and the corresponding experimental results as shown in Figure 30c. Observing
test method is used to detect its movement process. Firstly, passengers on the robot stand up by
Figure 30c, the following conclusions could be obtained:
(1) Excepting for the instantaneous impulse current in the initial stage, the curve of the left and right
linear actuators is smooth in the process of moving.
(2) In the opening process of the toilet mechanism, the current increases gradually; in the closing
process of the toilet mechanism, the current decreases gradually. The reason for this phenomenon
is mainly the lengthening of the force arm of the linear actuator.
mechanism are recorded, and the corresponding experimental results as shown in Figure 30c.
Observing Figure 30c, the following conclusions could be obtained:
(1) Excepting for the instantaneous impulse current in the initial stage, the curve of the left and right
linear actuators is smooth in the process of moving.
Appl. Sci. 2020, 10, 264 21 of 24
(2) In the opening process of the toilet mechanism, the current increases gradually; in the closing
process of the toilet mechanism, the current decreases gradually. The reason for this
(3) Duephenomenon
to machiningis mainly the lengthening
and assembly of the
errors, the force force
friction arm of
ofthe
thelinear actuator.
slide rail is increased; therefore
(3) the
Duecurrent
to machining and
curves of assembly
the left and errors, the friction
right linear force
actuators doofnot
thecoincide
slide railwith
is increased; therefore
each other in the
the current curves
process of moving. of the left and right linear actuators do not coincide with each other in the
process of moving.
So we know that the motion of the two pads is smooth and doesn’t interfere with the handrail
So which
bracket, we know that the
verifies the design
motionfunction
of the two
canpads
meetisthe
smooth and doesn’t interfere with the handrail
requirements.
bracket, which verifies the design function can meet the requirements.
(a) (b)
1.6
1.4
1.2
Current (A)
1
0.8
0.6 Left linear actuator
0.4 Right linear actuator
0.2
0
0.75
6.75
8.25
9.75
2.25
3.75
5.25
0
9
1.5
4.5
7.5
2.625
3.375
4.125
4.875
5.625
0.375
1.125
1.875
6.375
7.125
7.875
8.625
9.375
t (s)
(c)
Figure30.
Figure 30.Experimental
Experimentalresearch
researchof ofthe
thetoilet
toiletmechanism;
mechanism;(a)(a)opening
openingprocess
processof ofthe
thetoilet
toiletmechanism;
mechanism;
(b) closing process of the toilet mechanism; (c) the current change curves of the left and right linearright
(b) closing process of the toilet mechanism; (c) the current change curves of the left and linear
actuators.
actuators.
4.4. Experimental Research of Cooperating with Other Equipment
4.4. The
Experimental Research
robot is used of Cooperating
together with thewith Otherequipment
transfer Equipment to test its docking ability, as shown in
FigureThe
31. robot is used together with the transfer equipment to test its docking ability, as shown in
Figure 31.of all, the wheelchair-stretcher assistive robot is controlled by the remote control to move to
First
the bedside,
First ofand
all, then the height of the lifting
the wheelchair-stretcher mechanism
assistive robot isisadjusted to by
controlled achieve high docking
the remote controlwith the
to move
bed, as shown in Figure 31a. The transfer equipment is used to move the object from the
to the bedside, and then the height of the lifting mechanism is adjusted to achieve high docking with bed to the
wheelchair-stretcher assistive robot; when the object fully reaches the wheelchair-stretcher assistive
robot, the transfer equipment is moved back to the bed, as shown in Figure 31b. The folding mechanism
is used to transform the object from the lying position to the sitting position, as shown in Figure 31c.
From the operation process in the figure, it can be seen that the transfer equipment can accurately
move the object to the wheelchair-stretcher assistive robot without interference in the movement process,
the docking is accurate, and the folding mechanism can also realize the automatic folding function.
mechanism is used to transform the object from the lying position to the sitting position, as shown in
Figure 31c.
From the operation process in the figure, it can be seen that the transfer equipment can accurately
move the object to the wheelchair-stretcher assistive robot without interference in the movement
Appl. Sci. 2020, 10, 264 22 of 24
process, the docking is accurate, and the folding mechanism can also realize the automatic folding
function.
(a) (b) (c)

Figure 31. The
Themovement
movement process
process of
of the
the object
object from
from the
the bed
bed to
to the
thewheelchair-stretcher
wheelchair-stretcher assistive robot;
(a) the transfer equipment carries the object to the wheel-stretcher assistive
assistive robot;
robot; (b) the object is
moved onto
ontothe
thewheel-stretcher
wheel-stretcher assistive
assistive robot
robot and and the transfer
the transfer equipment
equipment return;return; (c) the
(c) the robot robot
changed
from a stretcher
changed to a wheelchair.
from a stretcher to a wheelchair.
5. Conclusions
5. Conclusions
A novel
A novel wheelchair-stretcher
wheelchair-stretcher assistive
assistive robot
robot is analyzed, computed
is analyzed, and designed
computed and designed in
in detail
detail in
in this
this
paper; finally, the following conclusions are obtained:
paper; finally, the following conclusions are obtained:
(1) The
(1) The kinematics
kinematics equation
equation and
andcontrol
controlequation
equationofofthe walking
the walking mechanism
mechanism areare
established, andand
established, the
correctness
the correctnessof which is determined
of which is determined by theoretical calculation
by theoretical calculation andand
practical experiment.
practical experiment.
(2) AA five-link
five-link mechanism
mechanism with with single
single degree
degree of of freedom
freedom is is proposed
proposed to to realize the folding motion
of the
of the robot.
robot. The
Theoptimal
optimaldesign
designof of the
the parameters
parameters of of the
the mechanism
mechanism is is realized
realized byby using
using the
minimum conclusive area method. By studying the force properties of
minimum conclusive area method. By studying the force properties of the folding mechanism, the folding mechanism,
thetorsion
the torsionspring
springandandRV RV reduction
reduction motor
motor are
are used
used asas the
the driving
driving device,
device, the
the output
output torque
torque of
the motor
the motor isis reduced,
reduced, and
and the
the motion
motion optimization
optimization andand mechanical
mechanical optimization
optimization of the folding
mechanismare
mechanism are completed.
completed.
(3) Combined
Combined with with ergonomics,
ergonomics, the the mechanical
structure design
design ofof four
four functional
functional modules
modules is
completed.
completed.The Themovement
movementof ofeach
eachmodule
moduleisisverified
verifiedby bythetheexperiment
experiment research.
research.
(4) Based
Based on on the
the STM32
STM32 chip,
chip, the
the control
control system
system of of the
the whole
whole prototype
prototype is achieved, and the
synchronous
synchronous controlcontrol algorithm
algorithm forfor the
the control
control ofof the
the lifting
lifting mechanism
mechanism and and the compound
position controlalgorithm
position control algorithm for walking
for the the walking mechanism
mechanism are applied.are According
applied. According to the
to the experimental
experimental
results, theseresults, thesecan
algorithms algorithms
meet thecan meet the
motion motion requirements.
requirements. Based on Based on the the
the current, current,
load
the load capacity of the robot is determined
capacity of the robot is determined as 90 kg. as 90 kg.
In
In future
future research,
research, we
wewill
willreduce
reducethe theweight
weight of of
thethe
equipment
equipment andand
improve
improveits reliability. In
its reliability.
addition, in in
In addition, thethe
whole
wholefolding
foldingprocess,
process,the
thejoint
jointofofthe
thehuman
humanbody
bodyisisnot
notconcentric
concentricwith
with that
that of
of the
the
wheelchair stretcher assistant robot, which results in poor comfort of the patients, so these
wheelchair stretcher assistant robot, which results in poor comfort of the patients, so these problems problems
will
will be
be further studied in
further studied in the
the follow-up
follow-up work.
work.
Author Contributions: Conceptualization,

Conceptualization, L.S.,
L.S.,M.Y.,
M.Y., Z.G.,
Z.G.,and
andH.W.;
H.W.;methodology,
methodology, L.S.,
L.S.,J.F.,
J.F., and
andF.D.;
F.D.; software,
software,
Y.T.; validation, L.S. and Y.T.;
L.S. and Y.T.; Y.T.; formal analysis, M.Y.; investigation,
investigation, L.S.;
L.S.; resources,
resources, L.S.
L.S. and
and M.Y.;
M.Y.;
Writing—Originaldraft
writing—original draftpreparation,
preparation,L.S.
L.S.and
andY.T.;
Y.T.; writing—review
Writing—Reviewand andediting,
editing,M.Y.,
M.Y.,Z.G.,
Z.G.,F.D.,
F.D.,J.F.,
J.F.,and
andH.W.;
H.W.;
project administration, L.S.; funding acquisition, L.S. All authors have read and agreed to the published version of
project administration, L.S.; funding acquisition, L.S.
the manuscript.
Funding: This research was funded by General Scientific Research Project of Education Department of Zhejiang
(grant number Y201840178), Ningbo natural science foundation (grant number 2019A610123) and postdoctoral
program of Zhejiang province (grant number ZJ2017032).
Conflicts of Interest: The authors declare no conflict of interest.
Appl. Sci. 2020, 10, 264 23 of 24
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Applied Sciences: Analysis, Design, and Experimental Research of A Novel Wheelchair-Stretcher Assistive Robot

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Keywords: wheelchair-stretcher assistive robot; mechanical structure; kinematics analysis; parameter

Appl. Sci. 2020, 10, 264; doi:10.3390/app10010264 www.mdpi.com/journal/applsci

2. Mechanical Structure Design of the Wheelchair-Stretcher Assistive Robot

Figure 1. Designing scheme of the wheelchair-stretcher assistive robot.

where l22 ==290

10. Force analysis

FAy + FBy = F1 + F2 (16)

The following geometric relationships between θ1 and θ2 can be described as:

l4 · cos(θ2 ) + l3 · cos α − l2 · cos θ1 = l1 · cos(e),

2.2.3. Driving Device Computation of the Folding Mechanism

situation, the effective winding number of spring is selected as 7.

Figure 11. Torque change of folding mechanism.

Table 1. Parameter list of RV (rotate vector) reduction motor.

Voltage/V Reducer Rated Torque/(N∙m) Rated Power/W Rated Revolution/(r·min−1)

Table 1. Parameter list of RV (rotate vector) reduction motor.

Left push Right push

Figure 18. The

3.2. Control of the Lifting Mechanism

Master Dc motor drive Milang electronic

Figure 21. Control block diagram of the lifting mechanism.

4. Experimental Research of the Wheelchair-Stretch Assistive Robot

4.1. Experimental Research of the Walking Mechanism

Table 2. Parameter value list of the walking mechanism.

Parameter Value Parameter Value

4.2. Experimental Research of the Folding Mechanism

Figure 24. The

Figure 26. Current of the motor at different weights.

larger than the velocity of the linear actuator L1.

(a) (b) (c)

Author Contributions: Conceptualization,

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