Design And Research Of Multifunctional Stair-Climbing Wheelchair With Planetary Wheel

With the acceleration of the aging process and the growing population of people with disabilities,ordinary wheelchairs with ground walking function can not meet the requirements of the elderly and the disabled.In order to facilitate their daily life and improve their quality of life,this thesis designs a multifunctional stair-climbing wheelchair with planetary wheel which is simple structure,easy to operate and cost-effective.Firstly,four-wheel drive stair-climbing mechanism with planetary wheel is used as the core of the scheme.On this basis,the ground walking mechanism,the situ steering mechanism,the center of gravity center adjusting mechanism and the seat leveling mechanism are designed.At the same time,the working principle and design characteristics of each organization are analyzed in detail Simultaneously,the wheelchair three-dimensional model is established in software SolidWorks and its climbing staircase process demonstration is carried out.Secondly,according to the analysis of the movement characteristics of the climbing staircase mechanism,an ideal climbing state of the wheelchair is proposed.On this basis,the size parameters of the three-star wheel group are determined.And the size design of the turning mechanism is completed according to the relevant staircase construction standard.According to the dynamic demand under different working conditions,the wheelchair power system selection analysis is completed.Thirdly,dynamics simulation analysis of wheelchair climbing staircase process is accomplished with the help of ADAMS virtual prototyping technology.The simulation results show that the four-wheel drive method is more stable than the traditional two-wheel drive,the climbing trajectory is more stable,the climbing efficiency is higher,and the climbing state is more stable under different whole practical centers.In short,the four-wheel drive method is more practical.Finally,in the case of the basic size of wheelchair,the optimal adjustment position of gravity center adjusting mechanism in three kinds of driving conditions,such as turning,ground driving and climbing staircase,is studied by using ?Aggrerate Mass? and optimization analysis module in ADAMS.