摘要
针对老年人和身体残障人士安全地爬楼和在地面上高效移动的需求,设计了一种行星轮式电动爬楼梯轮椅,详细介绍了该轮椅机构组成、控制系统及其功能特点。通过建立基于拉格朗日方程的行星轮组动态模型,研究了不同等效转矩下行星轮组的角加速度曲线,详细分析了轮椅在爬楼梯过程中的稳定裕度。研究表明,防倾翻支架能有效地提高轮椅爬楼的稳定性。该行星轮式爬楼梯轮椅能够安全有效地帮助老年人和身体残障人士,满足日常出行与攀爬楼梯的实际需求。
Aiming at safe stairs climbing and efficient locomotion on the ground for aged or physical disabled people, a planetary wheeled electric powered wheelchair(EPW) is designed and the composition of the wheelchair mechanism, control system scheme and its functional characteristics are introduced in detail.Through establishing the dynamic model of the planetary wheel clusters based on the Lagrange equation, the angle acceleration curves with various given equivalent torques are studied, the stability margin of the EPW is analyzed in detail in the process of a single step climbing which has demonstrated that the anti-tip-over bracket can effectively enhance the stability. The planetary wheeled stair-climbing wheelchair can effectively help those who are in need and meet the actual needs of daily travel and climbing stairs.
作者
章玮滨
唐炜
Zhang Weibin;Tang Wei(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,China)
出处
《机械传动》
北大核心
2019年第8期103-106,115,共5页
Journal of Mechanical Transmission
关键词
行星轮
电动轮椅
拉格朗日方程
稳定裕度
Planetary wheel
Electric powered wheelchair
Lagrange equation
Stability margin
