Research Of Robot For The Disabled/Elderly Under Complicated Conditions

With development of society and improvement of people's living standard,the aging of society is becoming more and more serious.In addition,the number of person who with disability caused by natural disasters and accidents is ascend substantially.So it's very necessary to research an old assistive robot which could be suitable for a variety of road conditions.The price of the traditional assistive robot is expensive and it has the damage on the stairs.The passengers often need the other's help to complete upstairs and downstairs process.It can't provide passengers a comfortable and safe environment because passengers need sit for downstairs.This paper aims to study an old assistive robot which passengers can sit for heading and they can be independent to complete upstairs and downstairs process.The innovation of this paper is the design of the old assistive robot.This paper analyzes the feasibility of upstairs in details.The analysis of Ansys simulation on the larger stressd parts of the old assistive robot's structure that ensures the strength of the design to meet the requirements and ensures the passenger's safety.The specific research contents and innovations are as follows:(1)Put forward a new climbing mechanism with variable wheel connecting rod type in the existing climbing device basis.Its advantage lies in the upstairs is more stable and reliable.And it can adapt to a variety of specifications of the stairs.It is in order to confirm the feasibility of the stairs by building of variable wheel climbing analyzed by the Matlab software in this paper.(2)This paper introduces a parallelogram mechanism which could adjust the seat balance.The mechanism and the coordinating role between the tilt sensor and electric putter,always ensure balance of seat,improves the degree of comfort.This paper describes a parallel quadrilateral mechanism in each stage of the pose.(3)This paper presents a generic crawler wheel structure that its role in the upstairs is to raise the rear wheel geometry center so as to reduce the upstairs resistance.The design point of view and the number of the generic crawler wheel is analyzed carefully in this paper.(4)This paper designs a feeler mechanism.It plays the buffering and supporting role in the downstairs process.It is analyzed about how to select a feeler mechanism and described the barrier mechanism and the release of the stow mechanism.(5)This paper makes a detailed analysis and a lot of theoretical arithmetic about go downstairs and downhill process.It also describes the control flow down the stairs.It is feasible that the scheme about this old assistive robot go downstairs and downhill process through Ansys software simulation and the calculation with Matlab software.Compared with the existing climbing device,this robot has the advantages of safety,smooth,comfortable and low power consumption.So it is a valuable technique.