The Study Of Static Stability Of The Stepping Mechanism Simulation Platform And Control Methods

Some normal people turn to disabilities overnight due to industrial and trafficaccidents, they have huge gap in psychological. And at the same time, Chinese society hasentered the aging society; some older people have to live with wheelchair because theirbodily fuctions have dropped already. The disabilities can’t go to everywhere they want togo. There are lots places can’t be reached with wheelchair which is often used by thosepeople because we had an uncompleted carrier-free facilityes construction. The travelfrequency of these disabled persons will be getting lower and lower but also makes themfeel that they have been abandoned by the society. Therefore they will suffer another kindof psychological distress besides the pains they suffered on body. It will become one of thesocial focuses to work out a new kind of “chair for walk” which is more suitable for thedisable persons than the wheelchair. In modern society, the function of wheelchair hasbeen perfected, so we should change our direction to research a new chair which can getover the ditch and ridge. First, we need to make a simulation to get the feasibility of thiskind of stepping institutions with static stability. Such a change is more really benefits forthe disabled persons. The simulation based on MATLAB platform. First, we need to creatthree-dimensional model of the human lower limbs. Then writing the procedures whichdriven the model to move. The procedures need to write following the movement rule ofhuman lower limbs and the limitations of the model. Observed from the simulationprocess, analyze the advantages and disadvantages, and further study the most feasible andmost scientific statically stable platform to determine the simulation parameters, and laidthe foundation for the following researches. The papers include the following:1) The establishment of Static stability step mechanism simulation platform, mainlyto evaluate the performance of the model such us the model-foot’s forward trajectory inthe horizontal direction, the trajectory of the model waist. Record the value of the angle ofeach joint to do experiment description.2) Optimal the algorithms of control. In the premise of uniform actuators, seeking atiming diagram of the actuator, that is forward time, pause time and reversetime, in orderto make the model stable in the vertical direction.3) The establishment of GUI, we can select and run the different models. Simulateunder different conditions.Finally, concluding the main content of this paper. The future direction of studying is indicated as well.