Design For Foreleg Mechanism Of Reconfigurable Eight-leg Wheel-legged Wheelchair And Upstairs Process Kinematics Simulation

In the modern society,wheelchair has being chosen by more and more seniors and disabled person as the tool of transport.But the traditional wheelchairs can only work on flat or the small slope of the ground,and it appears powerless when faced the obstacles such as steps,trench and stairs.In order to make the wheelchair has the function of climbing and trench-striding,on the basis of the analysis of existing stair-climbing device,this topic presented a kind of wheel-legged wheelchair.This paper mainly study about improving and designing of foreleg mechanism and simulation of climbing stairs process.Firstly,according to the shortage of foreleg mechanism,this paper increased the lifting mechanism based on original scheme.The application of function means tree produces many of possible schemes.The best scheme is selected from the projects with score directly evaluation.Combined with the original scheme,we can obtain the scheme of foreleg mechanism and discuss the configuration design of scheme.After the combination of the multi-level assembly model and port,we got the new assembly model.Then we analyzed assembly of foreleg mechanism by this model,and the virtual assembly model is obtained by UG.Secondly,the process of wheelchair climbing stairs is equivalent to quadrilateral,pentagons and hexagons transformation process base on the driving wheel.Based on the overall structure and operation of wheelchair,the operation strategy of wheelchair is given.On this basis,we planed path for the driving wheel and got the trajectory equation.Thirdly,the mathematical model of three behavioral diagrams and foreleg mechanism was established by using the closed vector method,and got the results of simulation analysis during wheelchair climbing stairs by MATLAB.At the same time,using the test software VC to build the platform,realized the interaction simulation of MATLAB and VC as well as carried on simulation of the foreleg mechanism,and then verify the validity of the theory and simulation.Through the analysis,the movement law of the wheelchair can be obtained,and it can also provide theory support for the improvement and control of the wheelchair.