TY - JOUR ID - 82219 TI - Analytical Investigation of Tire-Road Contact Characteristics for Wheelchair Robots Safely Running JO - International Journal of Engineering JA - IJE LA - en SN - 1025-2495 AU - Zhou, C. AU - Zhao, L. AU - Yu, Y. AU - Li, X. AD - School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo, China Y1 - 2018 PY - 2018 VL - 31 IS - 10 SP - 1767 EP - 1772 KW - wheelchair Robots KW - Tire KW - Safety Analysis KW - analytical method KW - Running Process DO - N2 - To effectively improve the tire grounding behaviors of wheelchair robots, an analytical method is proposed to analyze and optimize the tire grounding safety. Firstly, taking the cushion and tires as the vibration isolation elements with stiffness and damping, the vertical vibration model of the human-wheelchair robot is established. Then, taking the random excitation as the typical input, the formulae of the TDD (tire dynamic deflection) frequency response function H and the RMS (root mean square) response are derived and the response coefficient λ is proposed. Moreover, the influence laws of system parameters on H and λ are revealed. Thirdly, based on λ, the analytical optimization model for the cushion system damping ratio ξ2 is established. Finally, a case study and numerical simulation were carried out. The results show that the relative deviation of the cushion optimal damping is about 0.3%. UR - https://www.ije.ir/article_82219.html L1 - https://www.ije.ir/article_82219_1c4b8ff2524190391fe8820867c9a6ab.pdf ER -