Study Of A Wheel-Tracked Electric Stair-Climbing Wheelchair

In real life, wheelchairs have become the elderly and disabled people’s transport and they can participate in some social activities and physical exercise with the help of them. Aiming at the situation that most wheelchairs on the market are ordinary wheelchairs just for walking on the ground or expensive intelligent wheelchairs, a wheel-tracked&stair-climbing wheelchair was designed.On the basis of the analysis of various aspects, the principle of electric Stair-Climbing wheelchair was determined. Mechanical system was designed and virtual prototype model was completed, behavioral modeling for attitude transformation and power switching mechanism by PRO/E software. Mechanical system mainly included wheel-tracked walking mechanism, seat balance regulation mechanism, attitude transformation and power switching mechanism, compound power box. On the basis of the mechanical system design, riding performance of the stair-climbing wheelchair was studied. Riding performance mainly included steering performance and obstacle-crossing performance of the track. Drive&control system was designed by the method of module design. Control system mainly consisted of two AT89C52MCU. Drive system mainly included walk motor driving module, attitude transformation and power switching motor driving module, inclination sensor and seat balance regulation motor driving module.The study of riding performance showed that stair-climbing wheelchair had good mobility and trafficability, which could climb the barrier with245mm vertical height and stairs with maximum inclination angles33°, cross the gully with350mm width.