Vibration Characteristics Analysis of Convalescent-Wheelchair Robots Equipped with Dynamic Absorbers

<div>The vibration response sensitivity: (a) the wheelchair body RMS acceleration sensitivity <span class="nowrap"><svg height="11.2432pt" id="M460" style="vertical-align:-5.28229pt" version="1.1" viewbox="-0.0498162 -5.96091 13.5313 11.2432" width="13.5313pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M352 391C352 416 319 448 267 448C236 448 173 423 147 400C107 364 96 332 96 304C96 248 143 210 193 181C241 153 258 124 258 100C258 72 232 38 184 38C151 38 107 66 81 108C77 114 64 116 55 111C34 99 23 84 23 65C23 29 81 -12 134 -12C220 -12 325 61 325 141C325 184 297 215 234 256C194 282 161 309 161 346C161 380 188 401 217 401C255 401 279 380 301 353C308 344 313 341 325 347C341 355 352 371 352 391Z" id="g113-116"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.172,2.83)"><path d="M-255 573C-255 602 -277 625 -306 625C-333 625 -356 602 -356 573C-356 546 -333 522 -306 522C-277 522 -255 546 -255 573ZM-83 573C-83 602 -105 625 -134 625C-161 625 -184 602 -184 573C-184 546 -161 522 -134 522C-105 522 -83 546 -83 573Z" id="g54-5"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.81,3.132)"><path d="M481 445L456 468C426 437 403 427 388 427C372 427 356 428 302 438C256 447 221 451 187 451C159 451 130 428 105 384C93 363 80 340 65 305L96 290C122 342 149 381 193 381C216 381 267 377 294 374S346 372 365 376L75 105C37 70 24 35 24 16C24 2 30 -5 35 -8C42 -8 46 -6 48 -2C58 14 75 35 90 41C102 46 116 46 147 32C200 8 267 -21 298 -21C347 -21 390 12 448 126L420 151C369 77 338 56 311 56C287 56 249 68 212 81C180 92 149 100 127 98C212 172 353 308 413 372L481 445Z" id="g50-123"></path></g><g transform="matrix(.0065,0,0,-0.0065,9.178,5.233)"><path d="M394 0V37C301 42 295 50 295 122V635C236 613 178 596 109 583V553L165 551C205 549 209 544 209 495V122C209 50 203 42 111 37V0H394Z" id="g176-50"></path></g></svg>;</span> (b) the convalescent RMS acceleration sensitivity <span class="nowrap"><svg height="11.2432pt" id="M461" style="vertical-align:-5.28229pt" version="1.1" viewbox="-0.0498162 -5.96091 13.5313 11.2432" width="13.5313pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M352 391C352 416 319 448 267 448C236 448 173 423 147 400C107 364 96 332 96 304C96 248 143 210 193 181C241 153 258 124 258 100C258 72 232 38 184 38C151 38 107 66 81 108C77 114 64 116 55 111C34 99 23 84 23 65C23 29 81 -12 134 -12C220 -12 325 61 325 141C325 184 297 215 234 256C194 282 161 309 161 346C161 380 188 401 217 401C255 401 279 380 301 353C308 344 313 341 325 347C341 355 352 371 352 391Z" id="g113-116"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.172,2.83)"><path d="M-255 573C-255 602 -277 625 -306 625C-333 625 -356 602 -356 573C-356 546 -333 522 -306 522C-277 522 -255 546 -255 573ZM-83 573C-83 602 -105 625 -134 625C-161 625 -184 602 -184 573C-184 546 -161 522 -134 522C-105 522 -83 546 -83 573Z" id="g54-5"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.81,3.132)"><path d="M481 445L456 468C426 437 403 427 388 427C372 427 356 428 302 438C256 447 221 451 187 451C159 451 130 428 105 384C93 363 80 340 65 305L96 290C122 342 149 381 193 381C216 381 267 377 294 374S346 372 365 376L75 105C37 70 24 35 24 16C24 2 30 -5 35 -8C42 -8 46 -6 48 -2C58 14 75 35 90 41C102 46 116 46 147 32C200 8 267 -21 298 -21C347 -21 390 12 448 126L420 151C369 77 338 56 311 56C287 56 249 68 212 81C180 92 149 100 127 98C212 172 353 308 413 372L481 445Z" id="g50-123"></path></g><g transform="matrix(.0065,0,0,-0.0065,9.178,5.233)"><path d="M452 139L416 148C386 81 373 77 319 77H141L282 220C372 312 414 373 414 464C414 569 332 635 240 635C181 635 132 609 101 574L42 493L70 467C98 506 143 562 209 562C280 562 324 515 324 435C324 347 261 272 197 197C148 139 89 84 34 29V0H417L452 139Z" id="g176-51"></path></g></svg>;</span> (c) the TDD RMS sensitivity <span class="nowrap"><svg height="11.4899pt" id="M462" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -5.96091 14.1094 11.4899" width="14.1094pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M352 391C352 416 319 448 267 448C236 448 173 423 147 400C107 364 96 332 96 304C96 248 143 210 193 181C241 153 258 124 258 100C258 72 232 38 184 38C151 38 107 66 81 108C77 114 64 116 55 111C34 99 23 84 23 65C23 29 81 -12 134 -12C220 -12 325 61 325 141C325 184 297 215 234 256C194 282 161 309 161 346C161 380 188 401 217 401C255 401 279 380 301 353C308 344 313 341 325 347C341 355 352 371 352 391Z" id="g113-116"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.81,3.132)"><path d="M620 667C620 684 593 710 552 710C515 710 459 687 409 634C360 582 334 506 320 433H247L215 400L220 388H310L259 80C224 -129 199 -161 185 -174C175 -183 160 -192 141 -192C123 -192 90 -181 75 -165C69 -158 64 -156 54 -164C39 -178 24 -195 24 -208C24 -231 61 -257 94 -257C124 -257 162 -243 209 -194C267 -134 303 -66 343 107C369 220 378 279 393 385L503 397L523 433H404C432 619 464 660 500 660C522 660 542 646 566 621C573 614 583 615 593 621C603 628 620 648 620 667Z" id="g50-103"></path></g><g transform="matrix(.0065,0,0,-0.0065,9.533,5.233)"><path d="M517 51L485 54C448 58 441 63 441 115V712C404 700 337 684 285 678V653C357 648 362 645 362 580V437C339 446 309 449 295 449C159 449 38 340 38 201C38 61 143 -12 223 -12C234 -12 261 -6 301 17L362 53V-12C420 9 495 22 517 26V51ZM362 85C338 67 301 51 266 51C201 51 128 109 128 228C128 373 212 411 259 411C296 411 338 395 362 360V85Z" id="g190-101"></path></g></svg>.</span></div>

Shock and Vibration

fig12

Figure 12

Figure 12: Vibration Characteristics Analysis of Convalescent-Wheelchair Robots Equipped with Dynamic Absorbers 