Design And Research Of Intelligent Wheelchair Based On Ergonomics

As the ageing population problem is increasingly serious and the mutilation of disabled people is increasing, the requirement of auxiliary conveyance is also raising. The intelligent wheelchair, as a typical representative of the elderly and the disabled service robot, causes widespread concern of researchers in this field.Through the analysis of the domestic and foreign research status of intelligent wheelchair, the flexibility and functional diversity of the intelligent wheelchair are still lagging behind foreign advanced technology.Based on ergonomics, an intelligent wheelchair with flexible structure and complete function is designed. The mechanical structure is mainly studied in this dissertation.First of all, according to the physiological and psychological characteristics of intelligent wheelchair users, the basic functions of wheelchair is put forward, including autonomous moving, multi-attitude adjustment, human-computer interaction, obstacle and obstacle avoidance function.Then the base structure, the diagram and working principle of backmechanism, standing mechanism and leg lifting mechanism, and the design principle and circuit diagram of main control module, driving module, human-computer interaction module and the environment perception module are introduced.According to the theory of ergonomics and anthropometry, the size parameters of intelligent wheelchair are determined.Under the environment of ADAMS software, kinematics models of the back lying mechanism and standingmechanism and leg lifting mechanismare set up.Through the output curvesof displacement, velocity, acceleration, angular displacement, angular velocity and angular acceleration,the rationality of mechanism design and stability of motion are verified.The static analysis of wheelchair chassis supporting frame and flat structureare carried out by ANSYS software, and the maximum stress and deformation distribution in the limit position are observed.The calculation results are analyzed and compared to determine whether the structure has sufficient strength and stiffness.