Design For Mechanism Of Reconfigurable Eight-leg Wheel-legged Climbing-stair Wheelchair And Motion Analysis

The rapid development of medical technology and traffic brings people a lot of convenience.Meanwhile, the number of elderly and disabled people are on the increase. So the wheelchair become the necessities of life,work and study for this people. But now the most wheelchairs of domestic and international markets generally can only run on the ground. When encountering obstacles such as stairs and step, the wheelchair need someone to help to get the destination. This will largely restrict the action of this disabled people. For this situation, this paper designed a electric wheel-legged stair climbing wheelchair. It has such functions like the ground running, up and down the stairs, across the ditch obstacle, which makes people with disabilities can trave independently.Forelegs institutions and climbing institutions cooperate with each other to assist the wheelchair climb stairs and cross obstacle. This two parts of institutions is one of the innovation of this subject research. In this paper, first of all, according to the function of this institutions will complete to design different schemes of achieve this functions, and uses Fuzzy Integrated Evaluation method to select the optimal scheme and complete configuration designing and the establishment of 3D entity model.According to the wheelchair, s different parts of providing driving force when wheelchair climb stairs, the movement wheelchair can be divided into quadrilateral, pentagons and hexagons three broad behavioral diagrams. Wheelchair use this three broad behavioral diagrams continuously.Then use the knowledge of mechanical principle to establish mathematical model of this three broad behavioral diagrams in order to analyze the kinematics state of the wheelchair comprehensively.Finally, according to different driving wheel,s characteristics of motion track during the wheelchair climbing stairs to plan every driving wheel,s motion track.Then get the results of simulation analysis during wheelchair up and down stairs movement by MATLAB software. Finally get displacement, velocity, and acceleration of some key points and major institutions. With these data, can intuitively react wheelchair movement, provide a theoretical basis for improving the motion during follow-up design.