行星轮式爬楼梯轮椅的设计与分析

章玮滨; 唐炜

doi:10.16578/j.issn.1004.2539.2019.08.019

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行星轮式爬楼梯轮椅的设计与分析

设计计算 | 更新时间：2022-09-25

- 行星轮式爬楼梯轮椅的设计与分析
- Design and Analysis of Planetary Wheeled Stair-climbing Wheelchair
- 机械传动 2019年43卷第8期页码：103-106
- 作者机构：
  
  1.江苏科技大学机械工程学院，江苏镇江 212003
- 作者简介：
  
  章玮滨（1994— ），男，江苏江阴人，硕士研究生，研究方向为机电控制及自动化。
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.08.019
  中图分类号：
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章玮滨,唐炜.行星轮式爬楼梯轮椅的设计与分析[J].机械传动,2019,43(08):103-106.

Zhang Weibin,Tang Wei.Design and Analysis of Planetary Wheeled Stair-climbing Wheelchair[J].Journal of Mechanical Transmission,2019,43(08):103-106.
章玮滨,唐炜.行星轮式爬楼梯轮椅的设计与分析[J].机械传动,2019,43(08):103-106. DOI： 10.16578/j.issn.1004.2539.2019.08.019.

Zhang Weibin,Tang Wei.Design and Analysis of Planetary Wheeled Stair-climbing Wheelchair[J].Journal of Mechanical Transmission,2019,43(08):103-106. DOI： 10.16578/j.issn.1004.2539.2019.08.019.

摘要

针对老年人和身体残障人士安全地爬楼和在地面上高效移动的需求，设计了一种行星轮式电动爬楼梯轮椅，详细介绍了该轮椅机构组成、控制系统及其功能特点。通过建立基于拉格朗日方程的行星轮组动态模型，研究了不同等效转矩下行星轮组的角加速度曲线，详细分析了轮椅在爬楼梯过程中的稳定裕度。研究表明，防倾翻支架能有效地提高轮椅爬楼的稳定性。该行星轮式爬楼梯轮椅能够安全有效地帮助老年人和身体残障人士，满足日常出行与攀爬楼梯的实际需求。

Abstract

Aiming at safe stairs climbing and efficient locomotion on the ground for aged or physical disabled people, a planetary wheeled electric powered wheelchair (EPW) is designed and the composition of the wheelchair mechanism, control system scheme and its functional characteristics are introduced in detail. Through establishing the dynamic model of the planetary wheel clusters based on the Lagrange equation, the angle acceleration curves with various given equivalent torques are studied, the stability margin of the EPW is analyzed in detail in the process of a single step climbing which has demonstrated that the anti-tip-over bracket can effectively enhance the stability. The planetary wheeled stair-climbing wheelchair can effectively help those who are in need and meet the actual needs of daily travel and climbing stairs.

关键词

行星轮电动轮椅拉格朗日方程稳定裕度

Keywords

Planetary wheelElectric powered wheelchairLagrange equationStability margin

references

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GONZALEZ A，OTTAVIANO E，CECCARELLI M.On the kinematic functionality of a four-bar based mechanism for guiding wheels in climbing steps and obstacles［J］.Mechanism and Machine Theory，2009，44（8）：1507-1523.

MORALES R，CHOCOTECO J，FELIU V，et al.Obstacle surpassing and posture control of a stair-climbing robotic mechanism［J］.Control Engineering Practice，2013，21（5）：604-621.

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YU S Y，WANG T，LI X F，et al.Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot［J］.2010：1387-1392.

TAO W J，JIA Y X，LIU T，et al.A novel wheel-track hybrid electric powered wheelchair for stairs climbing［J］.Journal of Advanced Mechanical Design Systems and Manufacturing，2016，10（4）：53-74.

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顾艳红，王晟楠，刘占民，等.轻载型电动载物爬楼机［J］.机械传动，2018，42（9）：166-169. 来稿日期：2018-11-02 修回日期：2019-01-14

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