Design And Analysis Of Self-Balance Transport Platform For Wounded

During the post-disaster rescue process,ambulances cannot directly enter the rescue site due to the complex and changeable post-disaster environment.The manual transport tools such as stretchers is inefficient and consumes a lot of human resources,it may also cause the wounded to cause secondary injuries when being transported.In view of the above,this paper proposes a self-balancing injury transfer platform with good pavement pass-ability and analyzes it from the aspects of structural design,kinematics,dynamics,balance control and overall performance.In order to design a wounded transfer platform with self-balancing ability,by collecting and collating relevant research literature on rescue transfer equipment at home and abroad,and combining the actual needs of post-disaster rescue work,analyze the deficiencies in the rescue transfer platform and propose intelligence Several development trends of rescue transfer equipment.According to the relevant national standards,the design principles and overall requirements of the self-balancing transfer platform were put forward,and the overall design of the self-balancing transfer platform is formulated.The design process of the self-balancing transfer platform's walking chassis,self-balancing bearing mechanism and the wounded's ambulance,and the self-balancing principle of the self-balancing transfer platform are systematically introduced.Establishing the system coordinate system of the self-balancing transfer platform and using closed position vector method to solve the inverse position solution of the self-balanced bearing mechanism.To obtain the speed model by deriving the inverse position equation The Newton iterative method is used to solve the non-linear equations of the positive solution of the self-balanced bearing mechanism.The workspace of the self-balanced bearing mechanism can acquire by the Monte Carlo method based on the positive solution equations.The kinematics theoretical curve of the self-balanced load-bearing mechanism is calculated based on the forward and inverse solution models of the position and the structural parameters,and the correctness of the theoretical calculation is also verified using Adams software kinematics simulation,which laid the foundation for establishing the dynamic model and control of the self-balanced load-bearing mechanism.According to the Newton-Euler method can find stress condition of the self-balanced bearing mechanism and the elastic deformation of the self-balanced bearing mechanism under the binding force can be calculated.The total kinetic energy and the total potential energy of the self-balancing bearing mechanism are deduced,and the dynamic models of the self-balancing bearing mechanism under different working environments are established using the Lagrange method.The dynamic force model is used to calculate the driving force change curve of the self-balanced bearing mechanism,and Adams simulation is used to verify its correctness.A sliding mode control method using a nominal value model is used to design an adaptive self-balancing controller based on the dynamic model of the self-balancing bearing mechanism,and its stability is analyzed using the second method of Lyapunov.The simulation analysis of the self-balancing control model using Simulink verified that the wounded self-balancing transfer platform had good self-balancing performance.By the motion equation of the self-balancing transfer platform,the overall movement of the wounded transfer platform is analyzed.Analyzing anti-overturning performance of the self-balanced transfer platform by the stability pyramid principle,which proves that the mechanism has a good anti-overturning ability.A vibration model of the two-degree-of-freedom system of the self-balanced wounded transfer platform is established using a 1/2-car body model to analyze its vibration reduction performance.Using Simulink to establish a vibration simulation model based on the system vibration model,which verified that the self-balanced load bearing mechanism had good vibration reduction effects.