Optimization Design And Stability Research Of Battery-powered Stairs-climbing Wheelchair

Electric stair climbing wheelchair belonging to the field of service robots, has very important realistic meaning in improving the degree of freedom for the elderly and disabled people. This paper combined with the National863Program "The elderly disabled stairs walking system study"(NO.2008AA040204) and with Science and Technology Department of Ji lin Province about "The disabled on the stairs walk help device development"(NO.201000367). Electric stair climbing wheelchair was designed systematically and the reliability and safety and stability during operation was comprehensive considered. And based on this, to improve its operational reliability measures was proposed.There are three mainly types of stairs climbing devices in these days, such as stairs-wheel, tracked and pedestrian. Tracked stairs climbing devices are had bid damage to the stairs, bulky, heavier and not very suitable for domestic use. Pedestrian transmission technology is complex, intelligent security alarm and order along the antiskid braking technology is still not fully grasp, its highly integrated modular structure and high hardness of the use of lightweight materials, lead to its price is expensive and stability control is difficult. General stairs-wheel climbing device has the advantages of small volume, flexible rotation, but the lack of the ground to walk for electric vehicles use function, and the poor adaptability of different types of stairs.In response to those problems, this paper compared the advantage and disadvantages of various types of stair climbing devices, combined with common wheelchair and climbing stairs features, designed a stairs-wheel climbing device. This kind of stairs climbing devices mainly consists of mechanical system and control system. This paper focused on the transmission system design under the big impedance torque conditions of stars-wheel climbing device. And according to the requirement of using the reliability design of the corresponding auxiliary support institutions and center of gravity adjusting mechanism, realize the operation process of the stationarity and safety requirements.This paper first through to analysis research of the climbing device structure and the obstacle-surmounting process, designed the key structure of climbing mechanism, mechanical stability, structural design of transmission system and so on. What’s more, using SolidWorks modeling software to complete the overall mechanical structure design of the stair climbing device. After determined the overall structure of the climbing devices, using SolidWorks Motion analysis the transmission system of the devices to verify that the design of the differential planetary gear transmission system can realize the request of transmission function. After that, it has done the simulation for the force of the climbing devices’ key structure using ANSYS software optimization of the whole machine structure design.Finally, the designed prototype was validated by experiment, which including walking, walking up and down the stairs, in slope, ditch width etc. The results show that the designed prototype can satisfy the design index of the corresponding. Provide feasible solutions of practical problems for the elderly and disabled people.