Mechanics Analysis And Optimum Design Of Wheelchair Foreleg Mechanism In Wheeled Leg

With the arrival of China's population aging,more and more old people need wheelchairs to travel,but general electric wheelchair has limited functionality and it would bewilder when the gully,stairs and other obstacles encountered.In order to meet the needs of older persons and people with disabilities for multifunctional and intelligent wheelchair,our topic studys a wheel-leg hybrid electric wheelchairs based on the invention of the electric stair climbing wheelchair.The content of this article includes Center for motion analysis of wheelchair front body and kinematic analysis of mechanical wheelchair front body on the basis of analysis and design optimization.Firstly,through the analysis of this wheel-legged stair wheelchair structure and working principle,the front legs of kinematics analysis is further improved.that is to say,the frontleg's institutions of the mass and its working space is studied,then using MATLAB simulation for kinematics modeling and analysis to verify the correctness,theoretical foundation for the front body mechanics analysis.Secondly,Using the dynamic analysis method of wheel-legged wheelchair to build its front leg dynamics model bases on kinematic analysis.Then through solving dynamic equations sequence method obtains key points' mechanics law.Finally bying MATLAB software Simulation analysis gets the mechanical characteristics of the front-leg key points.Thirdly,according to front-leg work space and its center point c in the x direction of the force established a model and using MATLAB Optimization Toolbox to solve optimization model,the optimal length of the front leg mechanisms can be obtained.Through front-leg before and after improvement of dynamic characteristics and workspace simulation results were compared,to know better of the institutional structure improved mechanical properties,as well as improve front body work space.