| High-rise building has solved the problem of human living space,but also greatly limits the scope of activities of the elderly and the disabled.The emergence of the electric wheelchair bring great convenience for the elderly and the disabled,so that they can better participate in social life.But when facing obstacles such as stairs,it has great limitations,ordinary electric wheelchair can no longer meet the needs of users.In order to improve the shortcomings,this article discusses a wheel-legged electric wheelchair,which both contains all sorts of functions of the ordinary wheelchair,and also can climb stairs and ravines.This paper focuses on the optimization of the original structure and the modeling and simulation of virtual prototype,including the modeling,assembly,and movement performance analysis and simulation of the entire wheelchair.The working content is listed as bellow:1.We analysis the defects of the stair-climbing structure and made optimization to it.By using the Function Means Tree produces several project,we got the optimal solution through Direct Rating Method.2.We build the kinematics models of various components of the wheelchair and solved inverse kinematics of the seat position adjusting mechanism.And by using the global transition matrix,we transfer the coordinate system from the whole chair to stairs.3.By using the virtual prototype technology,we build the model of the wheelchair and assembled it together,then we made interference detection to the whole wheelchair and made exploded drawing to stair-climbing structure.4.We analyzed the movement performance of the wheelchair,and simulated the movement of the seat position adjusting mechanism through UG NX-Meanwhile we made static analysis and motion simulation to the wheelchair when it climbing stairs and slope.The solved animation and curves of the simulation proved that the wheelchair can climb stairs stably and continuously,and it also provides feasible reference for the similar structure design. |
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