Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair

Zhu Hua; Sun Guolin

doi:10.16578/j.issn.1004.2539.2023.11.023

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Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair

Development·Application | 更新时间：2023-12-01

- Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair
- Journal of Mechanical Transmission Vol. 47, Issue 11, Pages: 154-160(2023)
- 作者机构：
  
  江西理工大学机电工程学院，江西赣州 341000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.11.023
  CLC：
- Published：15 November 2023，
  
  Received：22 September 2022，
  
  Revised：06 December 2022，
扫描看全文
朱花,孙国林.前进式爬梯轮椅的结构设计与运动稳定性研究[J].机械传动,2023,47(11):154-160.

Zhu Hua,Sun Guolin.Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair[J].Journal of Mechanical Transmission,2023,47(11):154-160.
朱花,孙国林.前进式爬梯轮椅的结构设计与运动稳定性研究[J].机械传动,2023,47(11):154-160. DOI： 10.16578/j.issn.1004.2539.2023.11.023.

Zhu Hua,Sun Guolin.Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair[J].Journal of Mechanical Transmission,2023,47(11):154-160. DOI： 10.16578/j.issn.1004.2539.2023.11.023.

摘要

为分析爬梯姿态对爬梯轮椅运动特性及稳定性的影响，提出了前进式爬梯轮椅的构思。对爬梯轮椅进行结构设计并建立爬梯轮椅的运动学模型，通过仿真分析了前进式爬梯轮椅运动特性，验证了其运行的稳定性；引入轮椅重心变化参量，构建了前进式爬梯轮椅的倾翻稳定性定量分析方程，得到轮椅爬梯过程稳定度变化情况。结果表明，爬梯轮椅稳定性与爬梯姿态存在关系，前进式爬梯轮椅稳定度在0.26~0.74，最小值提高了136.36%，最大值提高了100%。制作样机并进行实验，验证了前进式爬梯轮椅的可行性与有效性。

Abstract

In order to analyze the influence of the climbing posture on the motion characteristics and stability of the ladder climbing wheelchair

a concept of the forward ladder climbing wheelchair is put forward. The structure of the ladder wheelchair is designed and the kinematic model of the ladder wheelchair is established. The motion characteristics of the forward ladder wheelchair are analyzed by simulation

and the stability of its operation is verified. By introducing the parameters of the change of the center of gravity of the wheelchair

the quantitative analysis equation of the tilting stability of the forward ladder climbing wheelchair is established

and the stability change of the wheelchair during the ladder climbing process is obtained. The results show that the stability and the ladder wheelchair stance advance the ladder wheelchair stability to a range from 0.26 to 0.74

the minimum value is increased by 136.36%

and the maximum value is increased by 100%. The prototype is made and the experiment is carried out to verify the feasibility and effectiveness of the forward ladder climbing wheelchair.

关键词

爬梯轮椅结构设计运动学稳定性

Keywords

Ladder climbing wheelchairStructure designKinematicsStability

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