A Ground, Stairs Dual-use Mobility Aids, Devices, Modeling And Design

At present, the majority of the elderly and handicapped persons always choose wheelchairs as a means of transport. Traditional manual wheelchairs and even powered wheelchairs do not have the capability to climb stairs or cross the barricade, which restrict the freedom of the users. Consequently, providing the elderly and the disabled with wheelchairs which have superior performance and expanding the use of wheelchairs has great significance and practical value.On account of the issue above, this thesis designs a multifunctional device for stair climbing, completes a virtual prototype in ADAMS, and develops kinematic model, use the combined method of ADAMS and MATLAB to create the simulation system.This paper designs a climbing structure, considering safety, stability and the use habits. The climbing function of the device is achieved by the link mechanism and stair climbing mechanism. When the device is climbing stairs, the body maintains level, and the user always faces to the direction of the road which is in line with people's normal habits.According to the requirements of the design, this paper completes the three-dimensional model, kinematics and dynamic simulation and vehicle's trajectory optimization in ADAMS. Kinematic model has been developed for calculating the joint angles and the trajectory of the structure's center of mass during the ascending process. The system parameters have been designed for the simulation in MATLAB. The simulation results are compared to show the accuracy of the kinematic model.This paper confirmed the feasibility of the design by using a variety of simulation methods. Compared with the star wheel structure, the trajectory has been optimized. At the same time, the simulation result of the virtual prototype and the analysis of the related data have been given. All about these could provide the basis for the development of the physical prototype.