Wheel-legged Wheelchar Motion Simulation Of Acrossing The Barrierand Ditch

With the rapidly development of the technology, the scrope of human’s activities areincreasing expanded. However, at the same time, many disabled person and old people havelost the ability of moving freely. This group is considered as the vulnerable group of thesociety and it is difficult for most people to envisage the troubles in their lives. It is a veryimportant problem that how giving them more careful and assistance and we must face it.In recently years, our country give more and more attention to the disabled person and theold people and advocate building a harmonious society. In this background, it is particularlyimportant for inventing a wheelchair that can adapted to this group. This wheelchair canadapt to the varieties of the road conditions in our daily live, such as steps, gully, stairs, andthe undulating roads. It can greatly expand the scope of the activities for the disabledperson and the old people and it has a great significance meaning.Firstly, this article briefly discusses the background of the climbing wheelchair and thecurrent situation in domestic and foreign and theirs’principle of working.Secondly, we focus on the kinematic’s analysis and simulation of the process of thiswheelchair’s obstacle and gulling. Including the method of creating the behavior graph inthe obstacle course and the sloving method of the behavior graph and at the last give theresults and the verification of the behavior graph.After, this article also give a simple introduction to the working principle of thiswheelchair’s chassis adjusting structure and the seat adjusting structure and we use Matlabto simulate the changes in position of the foreleg mechanism stairs process and alsosimulate the trajectory model, displacement, velocity and acceleration of some of the keypoints in the wheelchair and using the results of the simulation to determine the data isreasonable.Finally, this article proposes innovation of the process of the wheelchair’s obstaclingand overing the ditch.and suggesting the future direction of the research and access theeffect of the market.