Design And Research Of Wheel-Crawler Stair-Climbing Wheelchair

China is gradually entering an aging society and various safety accidents occur frequently,leading to a sharp increase in the number of elderly and disabled people.Therefore,it is of practical significance to design a stair climbing wheelchair that can solve their daily travel.Firstly,based on the idea of correlation matrix method,a number of stair climbing schemes were divided into four factors and six indicators and assigned their weights.Then,the weighted sum method was used to calculate the score and select the crawler walking scheme.Based on the design of track unit,wheel-track switching mechanism and external dimensions,a new wheel-track stair climbing wheelchair structure was proposed.Secondly,the kinematics model of the wheelchair’s center of mass was established,and the calculation method of the maximum climbing height under different parameters was given.The dynamic equations of different stair climbing sub-processes were established,and the stability criterion was established by combining Newton Euler method and stability cone method.Then,the stability analysis was carried out for the two sub-processes of wheelchair and stair starting contact and complete contact.Finally,the 3D model was imported into Adams environment for centroid stability simulation,and then the stability of the wheelchair was simulated and analyzed.Based on Ansys software,modal analysis and transient dynamics analysis of seat and rear axle were carried out.By simulating the impact on the chair and rear axle when the wheelchair falls off two steps of stairs,the curves and cloud images of the deformation,stress and strain under the impact load are obtained.The lightweight design of the wheelchair frame is carried out based on the size optimization method.The research shows that the wheel-track stair climbing wheelchair designed has good stability and practicability,which provides great convenience for the elderly and the disabled people to travel,and has a wide range of use prospects.Figure 83;Table 18;Reference 47...