Structural Design And Movement Research Of Ladder Wheelchair Robot

With the improvement of living standards and the development of medical technology,human life growth,the aging of the population has become more and more prominent.Frequent traffic accidents and the occurrence of natural disasters have also caused some disabled people and climbing the stairs becomes obstacles to their lives.It is necessary to design wheelchair robots with ladder functions to improve their quality of life and promote the harmonious development of society.The existing ladder installations have their own advantages and disadvantages,and the manufacturing cost is high.Through comparison and analysis,a planetary wheel ladder wheelchair robot is designed whose mechanical system design,kinematics analysis,stability study,finite element analysis and kinematics simulation are performed in this paper.Firstly,a “full-control” type of Samsung wheel climbing mechanism is designed.The transmission and power system are designed and selected.A balance mechanism is designed to ensure the stability of the occupants.The design of the ladder wheelchair robot is completed by means of the 3D modelling software.Secondly,kinematics models are established for the ground driving process and the laddering process respectively,and the wheelchair crossing obstacle capability and turning radius are analyzed.The stability cone method and the force-angle stability measurement method are adopted to analyze the dynamics of the wheelchair robot during the ladder climbing,which ensure safety and stability during exercise.Finally,the ANSYS software is used to check the strength of key components to ensure rationality and safety.A virtual prototype is established,and the movement of the ladder wheelchair is simulated by using ADAMS software to verify the feasibility of the ladder.