Optimization Design And Self-balance Method Research Of Electric Stair-climbing Wheelchair

With the continuous development of China's economy and society,people's requirements for the quality of life are also constantly improving.With the acceleration of China's aging process and the sustained growth of the disabled population,their demand for improving the quality of travel is very urgent.Although various devices for helping the elderly and the disabled have been put into the market continuously,the ordinary wheelchair can only be used on the barrier-free flat ground,which can not meet the needs of the elderly and the disabled people who can not move easily to climb the stairs.The wheelchair with the function of climbing the stairs abroad is expensive and difficult to enter the ordinary people's homes.In order to improve the quality of life of the above-mentioned people,better help them to solve their daily travel problems and enhance their care,this paper designs and manufactures an electric stair-climbing wheelchair(ESW)based on planetary wheel climbing mechanism,which has the advantages of compact structure,simple operation and suitable price,and through dynamic analysis and simulation.The realization of self-balanced walking is studied.Expanding the function of standing and walking,the ESW can not only make it convenient for passengers to pick up and put things in high places,but also make the passengers' sight level with normal people,maintain their self-esteem and embody humanistic care.The main contents of this paper are as follows:Firstly,on the basis of fully understanding the modulus of building stairs and the relevant national standards of electric wheelchairs,the main technical indicators of the ESW in this paper are formulated.The climbing stairs mechanism,flat ground motion mechanism,anti-rollover bracket,seat and control system based on ergonomics are designed,and the design characteristics of each mechanism are analyzed in detail.With the help of SolidWorks,a three-dimensional model of the ESW is established,so as to understand the working principle of each mechanism intuitively,and the process of wheelchair climbing stairs is demonstrated.Secondly,based on the analysis of the kinematic characteristics of the planetary wheel climbing mechanism,the ideal climbing state of the wheelchair is put forward according to the size and position relationship of the double-star wheelset and stairway steps.The size parameters of the double-star wheelset are determined accordingly,and the dynamic system of the wheelchair is designed.The feasibility of the design is verified by calculation and simulation.Through the analysis of wheelchair stability margin,the effectiveness of anti-rollover bracket is verified.Finite element analysis of key parts of wheelchair based on ABAQUS is carried out to ensure the rationality and reliability of mechanical mechanism design.Thirdly,aiming at the self-balancing problem of electric stair climbing wheelchair standing,the self-disturbance control strategy was designed,and the simulation model was established in MATLAB/Simulink environment.The joint simulation of wheelchair self-balancing model with ADAMS software verified the designed design.The rationality of the mechanical structure of the wheelchair and the effectiveness of the control strategy provide a theoretical basis for the future expansion of the selfbalancing function of the ESW.Finally,according to the design of the mechanical structure of the ESW,the hardware and software design of the control system is completed based on STM32 single chip computer,and the physical prototype is built under the laboratory conditions.Through the mobile phone application program based on Android system,the data reading experiment,ground rotation experiment and stair climbing experiment of the prototype are designed and completed,which verifies the feasibility of the overall design scheme of the ESW in this paper.