可重构的八足轮腿混合式轮椅车设计理论及方法研究

It is the bridge for the behavior to transform product design from function to structure. And it plays an important role to generate design alternatives. This project will extend the behavior into General Behavior Graph (GBG), and combine with Port-based Ontology (PBO) theory together, and apply to the design of an eight leg-wheels hybrid wheelchair vehicle. It can not only increase its safety and stability, but also enhance its stairclimbing ability. The contents will be included as follows. 1) According to PBO theory it presents the functional ontology of an eight leg-wheels hybrid wheelchair vehicle and builds ontology knowledge base; 2) founds GBG effort graph and flow graph of the wheelchair mechanism ontology, and corresponds to incidence matrix model, and gets the functional means tree of mechanism ontology through solving cut matrix, and obtains multi configuration alternatives of mechanism ontology of wheelchair vehicle by using ontological knowledge reasonning; 3) studies each module composition of the wheelchair, and realizes mechanism optimization design, kinematics modeling, and their path planning for front legs, rear legs, and the position mechanism of the chair seat, and 4) establishes multi-agent control strategies to implement wheelchair mechanism reconfiguration, and finishes climbing the existing standard staircases and spans the structural obstacles less than 300mm and gets over the ravine less than 500mm, and manufactures the first generation eight leg-wheels hybrid wheelchair to realize the innovation of product.

行为是产品设计由功能转变为结构的一个桥梁，对产品方案设计起着决定性作用。本课题将行为扩展为广义行为图（GBG：Gneral behavior graph），并结合通口本体（PBO：Port-based ontology）理论应用于八足轮腿混合式轮椅车设计，使该轮椅车不仅可以提高其安全性及稳定性，而且增强其攀爬能力。具体包括以下内容：1）根据PBO表示八足轮腿混合式轮椅车功能本体并构建其本体知识库；2）建立轮椅车本体的GBG势图和流图及对应的关联矩阵，求解割集矩阵得到机构本体的功能方法树，经本体知识推理获取多个轮椅车机构本体构形方案；3）研究轮椅车模块机构的组成，实现前腿、后腿及座椅位姿机构的优化设计、运动建模及路径规划；4）构建多Agent控制策略实现轮椅车机构本体重构完成攀爬现有标准楼梯及翻越300mm以下障碍物和跨越宽500mm以下沟壑，并制造出第一代八足轮腿混合式轮椅车实现产品创新。

电动轮椅作为残疾人及老年人有效的代步工具近年来得到了快速发展，而我国的无障碍设施尚不健全，甚至在绝大多数的公共场所也未能安装无障碍设施，这给残疾人及老年人外出活动造成很大的障碍。为此研究一种电动爬楼梯轮椅以满足残疾人及老年人的代步要求迫在眉睫。本课题首先采用通口本体（PBO：Port-based ontology）理论对可重构八足轮腿混合式轮椅车进行PBO表示、功能本体语义抽取及知识库构建，建立其轮椅车PBO元件库、规则库及知识库（其中包括：机械铰链、传动机构、机械器件等）及评价规则库等；其次，构建出描述轮椅车运动的行为图(BG: Behavior graph)模型，将行为图BG进一步扩展为广义行为图（GBG：General behavior graph），并结合八足轮腿混合式轮椅车应用GBG建模，使该轮椅车在攀爬楼梯过程中实现不同GBG模型转换；再次，建立了八足轮椅车本体的GBG势图和流图及对应的关联矩阵，进一步得到轮椅车机构本体的功能方法树，经本体知识推理获取多个轮椅车机构本体构形方案，通过求解GBG模型得到轮椅车前腿、后腿及座椅位姿的机构功能本体，通过轮椅车各模块机构的有效协调及配合实现轮椅车爬楼、越障及过坎目的；最后进行受力分析及优化设计，并采用神经网络及多Agent技术实现轮椅车前腿、后腿及座椅位姿机构的路径规划及机构重构。. 课题在研期间申请者受国际SCI杂志《Adv Mech Eng》邀请，客座主编概念设计理论、方法及应用专刊一期，课题组发表科研论文13篇，其中SCI收录4篇，EI收录1篇，申报专利12项，其中授权发明专利5项，实用新型专利5项，并制造出第一代可重构的八足轮腿混合式轮椅车概念样机，完成样机的技术验证工作，未来可以满足我国老龄化社会的需求，使老年人及残疾人走出家门，参与社会活动以丰富他/她们的生活，对于进一步建立建全我国和谐社会具有重要的现实意义。