摘要
针对目前城市障碍环境下对无障碍轮椅的运动需求,将轮式移动快速性的优点和履带式移动的高越障性的优点有机地加以组合,研制开发了一种多运动模式的轮/履耦合式无障碍轮椅.其特点在于结构紧凑,通过内部变形机构和弹性履带能够快速便捷的对轮式和履带式进行自由转换,同时通过系统自动调节轮椅座椅位置和倾斜度,能够实现智能重心控制并保证轮椅的安全性和舒适性.对该轮椅的结构设计、运动特性、越障性能以及重心平衡控制功能进行了详细的分析.采用模糊控制的方法保证了无障碍轮椅调节响应速度快以及安全可靠性好的控制要求.仿真分析表明,这种无障碍轮椅具有很好的环境适应性和较高的越障能力.
The intention in the present paper is to provide a novel berried-free wheelchair with a wheel-tracked deformable mechanism for the needs in urban obstacle environment in general.To combine the advantages of normal wheelchair and crawler wheelchair,for example rapidity and high over-obstacle ability,we design a wheel-tracked deformable mechanism and an elastic crawler which can help the wheelchair to do the mode conversion from wheel to track quickly.Moreover,it also presents a fuzzy method for adjusting the gravity center and controlling inclination of a stair-climbing wheelchair.To validate the proposed berried-free wheelchair,we have carried out simulations with analysis.The results demonstrate that the wheelchair has good environmental adaptability and high over-obstacle ability.
出处
《郑州大学学报（工学版）》
CAS
北大核心
2012年第4期55-59,共5页
Journal of Zhengzhou University（Engineering Science）
基金
机器人技术与系统国家重点实验室开放基金资助项目(SKLRS-2010-ZD-04)
关键词
无障碍轮椅
轮/履耦合式
越障稳定性
模糊控制
弹性履带
barrier-free wheelchair
wheel-tracked deformable mechanism
tip-over stability
fuzzy cotrol
elastic crawler
