Planetary Wheel Drive Conversion Pedestrian Drive Stair Climbing Wheelchair Design

As we know, wheelchair plays an important role in the life of elderly and disabled person, and especially with the society of increasing the aging population and the disabled person. Therefore, the wheelchair will play an irreplaceable role in the lives for this special group. However, both the ordinary manual wheelchairs and electric wheelchairs do not have the climbing steps function and crossing the barrier function. That cause the users have less freedom of his actions.There are three mainly types of stair climbing devices in these days, such as tracked, pedestrian and rollers. Tracked stair climbing devices are had big damage to the stairs, bulky, heavier, and not very suitable for domestic use. Pedestrian stair climbing devices are bulky, inflexible, demand highly technical and complex control. Rollers stair climbing devices have the features of compact, light, flexible, but the stability control is more complicated and need high cost.In response to those problems, this paper compared the advantages and disadvantages of various types of stair climbing devices, combined with common wheelchair and climbing stairs features, designed a pedestrian roller stair climbing devices. This kind of stair climbing devices mainly consists of mechanical system and control system. This paper focused on mechanical systems of pedestrian roller stair climbing devices, walking motion, stability and its optimized mechanical structures.This subject, first device on the structure of pedestrian roller stair climbing stairs, motion of climbing stairs and other major factors affecting the process of analysis, according to flexibility, stability, reliability design criteria, designed the overall mechanical structure for a pedestrian roller stair climbing devices.After determined the overall structure for a pedestrian roller stair climbing devices, based on using mechanics, mechanical principles and the knowledge of modern design, designed its mathematical modeling. Based on using kinematics and inverse kinematics, designed its movement. Then, it designed climbing equipment institutions, positioning mechanism, mechanical stability of institutions and other key technology and structure.After that, It has done the simulation for the force of the pedestrian roller stair climbing devices'key structure using some software. This research on the paper has set the theoretical basis for the practical application.The contents of this paper as follows:Chapter I: Overview. Expounds the background and significance of design stair climbing devices, studies its current development from domestic and abroad, makes the summary, analysis their strengths and weaknesses, and established the research direction and content.Chapter II: Design of stair climbing devices. By analysis climbing stairs movement, designs two schemes, analyzes and compares those three schemes, finalizes a selection one. Also studies device performance and the key technical problems of the pedestrian roller stair climbing wheelchair.Chapter III: System Dynamics Mathematical Model. By established on the basis of the scheme, using mechanics, mechanical principles and the knowledge of modern design, designed its mathematical modeling. Based on using kinematics and inverse kinematics, designed its movement.Chapter IV: Key structural design. It has done the research for climbing equipment institutions, positioning mechanism, mechanical stability of institutions and other key technology and structure of the pedestrian roller stair climbing wheelchair.Chapter V: System Simulation. It has done the simulation for the force of the pedestrian roller stair climbing devices'key structure and structural optimization using some software.Chapter VI: Summary and Prospect. It has done the summary of this paper and the prospect of the future.