Design And Research Of Stair Climbing Wheelchair Based On Double Crank Climbing Mechanism

Wheelchairs are used as a means of transport in the lives of people with elderly people with limited mobility and disabled people with lower limb,which can assist them to exercise and participate in social activities.And they have been widely used.However,the currently used wheelchairs can only be used for flat driving and can not meet the needs of the elderly and lower limb disabled freely up and down the stairs,which limit the scope of the user's social activities.In order to improve the ability of traditional wheelchairs to overcome obstacles,it is particularly important to study on a multifunctional wheelchair that can move both flat and stairs.In view of this,a double crank climbing mechanism climbing stairs wheelchair is proposed,which can be used both on the ground and in the climbing action.Firstly,the characteristics of the existing stair climbing wheelchair devices are studied.The plan for climbing the stairs wheelchair is proposed,the safety,the stability,the difficulty of control and the needs of the occupants should be all taken into consideration.The design mainly includes the technical requirements of the stair climbing wheelchair,the mechanical structure and the design of the climbing process.Secondly,by analyzing the mathematical model of the climbing mechanism,the main structural dimensions of the climbing mechanism are determined,and the climbing mechanism is subjected to force analysis.Using the ADAMS software to analyzes the kinematics simulation of the wheelchair simplified model.The simulation results of the climbing process and the trajectory of the stair climbing wheelchair are analyzed,and the feasibility and practicability of the designed double crank climbing mechanism to climb the stair wheelchair is proved.Finally,the dynamic analysis of stair climbing wheelchair in the ground running and climbing stairs,and the maximum torque required by the wheelchair was obtained,and the drive system was designed.The stability of the climbing wheelchair during the climbing operation was analyzed.The finite element analysis of key components using ANSYS Workbench software verified the stability of the designed stair climbing wheelchair during the climbing process and the reliability of key components.