Wheel-legged Wheelchair Motion Simulation Of Climbing One And Two Stairs

With the improvement of living standards, the elderly and physically disabled personsare in urgent need of an effective means of transport, which can help them to travel andparticipate in various social activities. Wheelchair as an ideal choice has been widely used.But most wheelchairs can only work on flat, when faced with obstacles such as stairs gullythey can’t pass. For this situation and consider the actual income of residents, this paperdesigned a electric wheel-legged stair climbing wheelchair. It has such functions like theground running, up and down the stairs, across the ditch obstacle, which is effectivelycompensate for the deficiencies of the existing wheelchair.Forelegs institution as the main stair climbing device wheelchair, is one of theinnovations of this subject. This paper describes the qualitative reasoning based SDG, andthen use the theory analyze the movement of the forelegs institution. According to theresults, determine the main influencing parameters and modify them, ultimately get theoptimal the parameters of forelegs institution, completing the design of the forelegsinstitution.Secondly, analyze the characteristics of movement during wheelchair up and downstairs. The movement wheelchair can be divided into quadrilateral, pentagons and hexagonsthree broad behavioral diagrams, then establish kinematic models.During the campaign, forelegs agencies, rollerblading institutions, and seat adjustmentmechanism coordinate with each other. The kinematics models of the major institutions canget a comprehensive response to the operating performance wheelchair facilitative.Finally, according to the above kinematic models, get the results of simulation analysisduring wheelchair up and down stairs movement by MATLAB software. Finally getdisplacement, velocity, and acceleration of some key points and major institutions. Withthese data, can intuitively react wheelchair movement, provide a theoretical basis forimproving the motion during follow-up design.