Designa And Realization Of The Intelligent Climbing Stairs Robot

The paper proposed a new type of intelligent climbing stairs robot with wheel foot, in order to provide superior performance means of transport and auxiliary devices. It introduced the configuration and structure characteristics, and this paper derived the kinematics equation, and the constraint conditions of a complete kinematics analysis and virtual prototype simulation. The design of the intelligent climbing stairs robot in the paper can be widely applied to vulnerable groups such as the disabled and the elderly, but can also be used to a variety of places such as hospitals, nursing homes and family. The study has scientific significance and application value, also has broad prospects for development, and can bring great social and economic benefits.Based on the analysis of the current situation of robot research at home and abroad, this paper put forward a kind of new scheme with wheel foot combination. The mobile mechanism are analyzed and selected, and it designed the key parts of the wheel foot combination robot, and checked its design inspection to ensure the rationality of the design agency.Using virtual prototype model technology, the paper set up the virtual prototype model of the intelligent climbing stairs robot. First, the paper introduced the specific analysis of the validity and feasibility of the model and the robot simulation climb building process, and the robot kinematics analysis, that can provided a strong theoretical basis for physical prototype production. Secondly, the paper also introduced the processing of all kinds of the different parts and assembly prototype. The paper built a control system and drive system combined with robot prototype, and organized system diagram and physical diagram, combining the context of the entire control. Finally, under the special circumstances that the robot climbing up in the ground operation and only two wheels in the floor, the paper proposed the robot dynamics analysis, the controller design, stability judgment and simulation with MATLAB and ADMAS, and further ensure that the robot can be up the stairs in flat environment safety and reliability.This paper analyzed structure characteristics of the wheel foot combination mechanism, and the mechanism of parameter design, driving scheme design, control system design, and virtual prototype design and simulation. Based on the success of simulation, the robot is processed and assembly into a prototype, and conducted field tests. The results can be in accordance to a predetermined expectations movement, and effective verify the feasibility of the stair intelligent robots, so the study has laid a good foundation for further study of robot.