Research On The Design And Stair-climbing Performance Of Mobility Platform For The Elderly And Disabled

In recent years,with the arrival of the aging population and aging trend,the number of elderly people in China has grown rapidly,the gap between the elderly and the service robots has been increasing.To care for the elderly and people with disabilities,improve their quality of life,research and development of a highly efficient and reliable helpage assistive mobile platform service mutilation under the elderly and disabled daily travel is of great significance.According to the actual needs of the disabled and the elderly lower limb put forward a design scheme of efficient and reliable HelpAge assistive mobile platform.The wheel walking mechanism of the mobile platform and the crawler walking mechanism are designed respectively.On this basis,we studied the mobile platform wheel steering mechanism and its working principle,built a virtual prototype model in the three-dimensional software,and finally built an experimental prototype to verify the ladder performance of the mobile platform.This paper focuses on the way to realize the movement of mobile platform in the process of climbing.Based on the analysis of the mobile platform's action planning under the two situations of the main crawler and the crawler crawler,the mobile platform's action plan is carried out,and the maximum height and elevation of the mobile platform's center of mass are determined.The kinetic model for the critical steps for climbing mobile platform,and the variation of the moving platform and the driving force of the swing arm through the Matlab software on the ladder were analyzed in the process,the mobile platform drive maximum mobile platform centroid in the ladder changes during the process of law and the ladder in the process that the elderly and the disabled mobile platform has good ability to climb the ladder.Aiming at the stability problem of mobile platform's climbing ladder,a static cone model is established for mobile platform based on static stability boundary method and gravity center projection method.The static stability and dynamic stability of mobile platform are analyzed.The research shows the rationality of the movement planning of the climbing ladder on the mobile platform,which provides a theoretical basis for the realization of the stability control of the climbing ladder of the mobile platform.A mobile platform test prototype was built.The party for the mobile platform performance was tested,the results show that the designed mobile platform can satisfy the single stair climb and climb the stairs,verify the rationality of the design of the mobile platform.The research shows the rationality of the motion planning of the mobile platform and provides the theoretical basis for the realization of the stability control of the mobile platform.