Model And Simulation Of Wheel-legged Wheelchair

Electric wheelchairs has brought great convenience for the elderly and the disabled totravel, which plays a very important role in their lives. However, as steps can be seeneverywhere in our living environment, a common electric wheelchair lacks the ability toclimb stairs and cross ditch, which has been unable to meet the travel needs of the elderlyand the disabled. Wheel-legged wheelchair as a climbing-stair device, not only can moveon the ground but also climb stairs and obstacle, making up the drawbacks of commonelectric wheelchair. This paper focuses on modeling and simulation of wheel-leggedclimbing-stair wheelchair, including virtual assembly, the best obstacle-surmountingcapability, virtual prototype modeling and virtual simulation.First, based on the traditional method of assembly design a multi-level virtualassembly model has been established, and ontology language is used to describe themulti-level model.Secondly, the capabilities of surmounting obstacles of wheel-legged wheelchair,including step and slope-climbing and channel-crossing, are analyzed based on theobstacle-surmounting mechanism.Again, the three-dimensional model of the wheelchair is established based on the3Dmodeling software UG, the model is imported intoADAMS to build the virtual prototype.Finally, the process of climbing obstacle is planned, and the action is virtuallysimulated in ADAMS, and dynamics analysis on several special working condition iscarried out.