摘要：For now, many hospitals that require nurses to move patients by hand from stretchers to a hospital bed, so a design of stretcher with auxiliary functions of lateral positioning and transferring for immobilized patients, which is a mechanical mechanism consisted of rigid rods, joints and sliders, was designed to help the nurses to move patients between beds and reduce their workload. Driven by motors, the rigid rods can be rotated, stretched or shortened so that the entire stretcher bed board can archive to a proper posture and position. In this paper, the following objectives will be achieved: (i) Create a schematic of the mechanism and describe the principles and functions (ii) the calculation of inverse kinematics, forward kinematics, dynamics (including energy), and PD control in the mechanism (iii) The motion process of simulating the mechanism using MATLAB (iv) Using MATLAB to create the plots of angle, torque, and position state (v) Using SolidWorks to construct the prototype and to implement the motion simulation of the mechanism (vi) Describe the practical application and future Extensions of this mechanism.
