Design For Transmission System Of Wheel-legged Wheelchair And Simulation Of Climbing Stairs Process

Wheelchair as main means of transport of the senior citizen and the disabled people, havegreatly improved the quality of life for this population, but the general wheelchair lack ofclimbing stairs and obstacle crossing ability, thus limiting the use scope of wheelchair. To solvethis problem, on the basis of the analysis of existing stair-climbing device, propose and researchdesign an economical, superior performance, functionality stair-climbing wheelchair. When itruns flat work as an ordinary wheelchair, while climbing up and down the stairs and across theditch, the user can operate independently the secondary institutions to achieve a particularfunctionality.In the modern mechanical system, the transmission system is the important part of systemdesign and is the key part of optimization enhances the whole system performance. Therefore,this paper introduces the basic principles of design of mechanical systems using bond graphtheory at first. Then according to the function and the performance requirement of wheelchairtransmission system, carry on the project design to the transmission system using this method.And score directly on the resulting program.In order to study the movement of wheelchairs on stairs, using the principle of kinematicsand mechanical knowledge, in light of wheelchair own movement situation, has established thekinematics of mechanism modeling method of wheelchair. Using this method the wheelchairstair climbing process is divided into multiple kinematic module, the wheelchair overall sportsperformance by analyzing the state of motion of each module institutions.Meanwhile, takes the kinematic analysis as foundation, has carried on the simulation to thecrawling staircase process of wheelchair using MATLAB. Then analyses the key reference pointson the wheelchair and the structure of the movement, discuss the campaign performance ofwheelchair on stairs and front legs body motion control strategies based on those results.Through the above work, provides the theoretical support for the following research ofcrawling staircase wheelchair this article involves.