The Research On Design And Motion Control For Wheelchair Robot

With the progressing of biomedical, human health and life expectancy have beenimproved. The population aging problem has increasingly become the focus of attentionassociated with the continuously extend of human lifespan; coupled withindustrialization progress more quickly, the number of vehicles increases with eachpassing year, in turn generates a lot of paralyzed and physically disabilities caused bytraffic accidents. The ordinary wheelchair already cannot meet the needs of these groups,and they urgently need use a modern high-tech the wheelchair robot to improve theirquality of life and living free degrees.This article has carried research on the design of the wheelchair robot mechanicalstructure and the motion of walking. The main work is as follows:(1) Design the wheelchair robot’s mechanical structure according tomechanical principles and national standard of electric wheelchairs, includethe seat lift mechanism, lying mechanism, the two-wheel drive runninggear that after independence, and the other auxiliary institutions.(2) Propose two control modes of wheelchair walking based on the DSPTMS320LF240, namely handle control and wireless remote control.(3) Check the wheelchair robot motion parameters, such as gradability,acceleration time and the obstacle height.(4) Complete two simulation experiments on the dynamics simulation softwareAdams, and analysis of the results the experimental, verify the wheelchairrobot structural program feasibility and reliability of movement.Design and verify the wheelchair robot, make its achieve variety of functions tomeet the special needs of the user. such as walking, lifting, and lying, In order to solvethe structure design and the disabled wheelchair robot hand and other social problems,provides certain theory basis.