Structure Design and Kinematics Simulation Analysis of Standing and Lying Nursing Wheelchair

In order to meet the nursing needs of the elderly and disabled patients with mobility difficulties， a standing and lying nursing wheelchair that can assist standing and assisting lying is designed. The design scheme and working principle of the wheelchair mechanism are expounded. Based on the principle of ergonomics， three-dimensional gait analysis and motion system are used to analyze the movement trajectory of normal joints during the process of standing up and lying down. The geometric relationship between wheelchair mechanisms is established， and the kinematics analysis of the mechanism carried out. Combining the anthropometric data， the parameters of each component are determined and a virtual prototype is established. By using the Adams software， the motion simulation of the mechanism is carried out， the mechanism runs smoothly in the simulation. The simulation results show that the sitting， standing and lying nursing wheelchair assists the human body to sit， stand， and lie down in accordance with the laws of healthy human movement， which verifies the rationality of the mechanism design.