Design And Research On Pedal Mechanism Of Wheel-legged Climbing-stair Wheelchair

In the modern society,Climbing-stair wheelchair gradually into our lives,but most of the current climbing-stair wheelchair climb the stairs in the reversing backwards way,this is different from the way we normally walk forward in a wheelchair.In order to overcome the shortcomings of the existing climbing-stair wheelchair,this subject has designed an electric wheelchair,which can climb the stairs in the forwards way.An adjustable pedal mechanism is designed to help climbing-stair wheelchair realize the way to climb the stairs.This paper is mainly about the design of the adjustable pedal mechanism of the climbing-stair wheelchair,and the feasibility of the system is simulated.Firstly,based on the principle of ergonomics,the model of human lower limb is established.And by using the proportional relation method the basic parameters of the human lower limb were obtained.Based on the analysis of the motion of fluctuation stair of the climbing-stair wheelchair and the study of the human lower limb the design requirements and goals of the adjustable foot pedal are put forward.Secondly,through the analysis of the functional requirements of the adjustable pedal mechanism,it is difficult to find a traditional mechanical structure to meet the functional requirements of the foot pedal mechanism,however the metamorphic mechanism can be a good solution to the difficulties of the case.The design theory of the metamorphic mechanism provides a theoretical basis for the design of the adjustable foot pedal mechanism.Thirdly,By using UG and ADAMS software,the foot pedal mechanism was modeled and simulated.The movement and dynamic information of the foot pedal mechanism and the human lower limb are obtained.Simulation results show that the foot pedal mechanism can be very good to avoid interference with the stairs ladder when climbing-stair wheelchair climbs the stairs,and will not gives the human body lower limbs to bring secondary damage.