Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair

Zhou Qiuyu; Xing Xiaodong

doi:10.16578/j.issn.1004.2539.2016.04.016

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Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair

更新时间：2022-10-20

- Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair
- Vol. 40, Issue 4, Pages: 74-80(2016)
- 作者机构：
  
  1. 哈尔滨工程大学机电工程学院海洋智能机械研究所
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.04.016
  CLC：
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[1]周秋雨,邢晓冬.一种可全向移动爬楼梯轮椅的结构设计与分析[J].机械传动,2016,40(04):74-80.

Zhou Qiuyu, Xing Xiaodong. Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair. [J]. 40(4):74-80(2016)
[1]周秋雨,邢晓冬.一种可全向移动爬楼梯轮椅的结构设计与分析[J].机械传动,2016,40(04):74-80. DOI： 10.16578/j.issn.1004.2539.2016.04.016.

Zhou Qiuyu, Xing Xiaodong. Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair. [J]. 40(4):74-80(2016) DOI： 10.16578/j.issn.1004.2539.2016.04.016.

摘要

为了帮助下肢残疾者攀爬楼梯,设计了一种可全向移动的爬楼梯轮椅。采用支撑腿和车轮交替支撑的方式实现轮椅爬梯功能。采用Mecanum轮作为轮椅的车轮且用4个电机独立驱动以实现轮椅的全向移动。对轮椅在台阶宽度限定情况下的越障能力和运动学、动力学进行了分析,并结合能量法和稳定裕度法分析了爬梯过程中轮椅的前后向和侧向的稳定性。又对轮椅全向移动特性进行了研究。结果表明,轮椅可以安全地攀爬大多数楼梯而不会翻倒,轮椅的全向移动可以通过控制4个车轮的转速实现。轮椅的结构设计合理,实现了爬梯和全向移动功能的结合。

Abstract

An omni-directional mobile stair climbing wheelchair is designed to help the persons with lower limb disabilities climb the stairs.The function of climbing stair of the wheelchair is realized by using mechanical support legs and wheels bearing the wheelchair alternately.Four Mecanum wheels are taken as the wheelchair wheels and driven by four electrical motors.The capability of obstacle crossing with the limited width of stairs and the kinematical and dynamics math model are analyzed.The anteroposterior and lateral stability of the wheelchair are analyzed with combining energy method and stability reserve analysis method.The characteristics of omni-directional movement of the wheelchair are also studied.The result shows that the wheelchair can climb most stairs safely and wouldn’t turn over.The omni- directional movement can be achieved by controlling the speed of four wheels.The structural design of the wheelchair is reasonable.And the combination of the stair- climbing function and the omni- directional mobile function is realized successfully.

关键词

全向移动爬梯轮椅越障能力稳定性

Keywords

Omni-directional mobileStair climbing wheelchairObstacle crossing capabilityStability

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