A Flat, Climb Building Amphibious Help Line Device Design And Engineering Implementation

At present, both population and ratio of the elderly and the disabled have increased that brings significant pressure to the social development Considering that the ordinary electric wheelchair can not climb stairs, a new walking-aid device is presented in this paper to further improve their quality of life and enhance their ability of participating in social life.First of all, an overall solution is given that stair climbing and plain movement are seper-ated and the main principle is elaborated. Based on the analysis on the relationship of the climbing movement parameters, the climbing structure’s size is designed and the feasibility of the structure is discussed from the dynamics perspective. According to the size limitation, mechanical transmission system is designed and3D model of the climbing structure is drawed.Then the physical prototype is manufactured and assembled.Seondly, driving and cotrolling needs are analysised. Both of the stair climbing and plain movement motos are selected. Then the driving and controlling proposal is designed.The plain movement moto driving is based on the specific BLDC control chip MC33035and the climbing movement moto driving is based on the universal motor control chip TMS320-F28335.Hardware is designed in a modular fashion:main controlling PCB, joystick PCB, stair-climbing moto driving PCB and plain movement moto driving PCB. Peripheral driver and software modules are realized especially for the brushless commutation control and intelligent partition PI speed control algorithm.Finally, hardware circuits and software modules are debugged. The joint debugging of the control and driving system with device machinery have reached expectant request.