Research And Design Of Stair-climbing Wheelchair Based On The Gear Rack And Pinion Turning Climbing Mechanism

With the increasing of aging population and people with disabilities in our country,and with the acceleration of urbanization, the elderly and the lower limb disabled cannot adapt to the situation, their problem of travel by the widespread concern in the community.Use technology to solve the problem is the trend of the times, therefore many countries of the world are increasing their investment in the field of service robots. There are more and more institutions and researchers are researching the stair-climbing equipment in domestic and foreign at present. This paper designs a stair-climbing wheelchair that based on the gear rack and pinion turning by learning the current research situation of the stair-climbing equipment of domestic and foreign.Firstly, this paper summarizes the existing stair-climbing equipment and compares their respective advantages and disadvantages by checking a large number of relevant information. At the same time, fully considering the degree of occupant comfort, the safety and stability when climbing stairs, the degree of difficulty of control, etc., this paper designs a stair-climbing mechanism that based on the gear rack and pinion to turn. The mechanism has the advantages of small driving torque and smooth running.Secondly, the structure parameters of crank were calculated by the requirements of design, and then the specific design of the gear and the rack climbing mechanism was carried out. In order to achieve the climbing turn and drive, the shunt with the same speed transmission structure that based on electromagnetic clutch was designed, the selection of electrical components that required by the transmission link and the design of transmission were completed at the same time. Finally using virtual prototype technology, and using SolidWorks complete the 3D modeling of stair-climbing wheelchair based on the gear rack and pinion turning climbing mechanism.Finally, the simulation analysis software of CAE was carried out on the wheelchair: Using ADAMS software to do the kinematics simulation of simplified model of wheelchair and analyze the trajectory of the wheelchair, and verify the smooth movement of the wheelchair; using SolidWorks Motion to do the kinematics simulation of the gear climbing along the rack, and analyze the motion of climbing characteristics of the wheelchair; at the same time, using ANSYS software to do the finite element analysis of the key components and verify the reliability and safety of the designed parts.