Design And Analysis Of A New Stair-climbing Crawler Vehicle With Wheelchair Carrying Function

The increasing population aging of the country and the large number of old buildings without elevators,and ordinary electric wheelchairs do not have the function of climbing stairs,resulting in inconvenience to many disabled persons and the elderly when traveling.So,the stair-climbing aids have become a trend.After researching the existing theoretical,technological achievements and doing researches on the market,there are many deficiencies in the existing walker-assisted and stair-climbing wheelchair were found.Therefore,a novel type of tracked vehicle capable of carrying ordinary wheelchairs to help the disabled and the elderly to go up and down the stairs was designed and developed.In this paper,the design parameters and performance parameters were first listed according to the functional requirements of tracked vehicle climbing stairs.Then,the overall scheme was designed,including the design of mechanical structure and control system.And the Solid Works software was used to complete the design of overall prototype of the three-dimensional structure,including crawler mobile chassis,wheel switching mechanism and carrying adjustment mechanism.Based on the ANSYS Workbench,the key components of the prototype installed on the positions bearing the large strength were verified and analyzed.Thirdly,the corresponding control system of the manned stair-climbing tracked vehicle was designed,including the selection of control system components,the design of control system hardware and software.After analyzing the climbing process of the tracked vehicle,kinematics analysis was carried out for gravity change,and the mechanical model was designed.On this basis,mechanical analysis and stability evaluation were carried out.Finally,to test and verify the functions of the prototype,experimental verification was performed.The stability of manned functions was tested and analyzed,and the climbing up and down stairs of tracked chassis and the manned tracked vehicle were tested respectively.By MATLAB,the actual changes of motor output torque and the stair angle data were compared with the results of simulation,the correctness of theory and the rationality of prototype design were verified.