摘要随着社会和经济的发展，一栋栋高楼大厦平地而起，而在现实生活中，这种现象都已经严重地影响到了许多老年人和肢体行动不便的人。轮椅作为他们主要的行动工具，由于高楼的存在限制了他们的生活。为了保障老年人和肢体不便者的基本生活和针对现在市场上存在的轮椅，我们打算设计一款电动爬楼梯，他不仅具有自动爬楼梯功能，同时还能帮助使用者做一些简单地康复运动。

首先，本论文先对国内外爬楼梯机器人的研究成果进行了概述，并对基于轮-履变结构的轮椅式服务机器人设计进行了研究。根据所设计的基于轮-履变结构的轮椅式服务机器人机械结构，对其进行了运动学与动力学力分析。在不同路面的运动情况，在结合轮椅式服务机器人相关的设计要求，从而确定控制系统的总体控制方案；通过对电机的模拟仿真来确定电机的性能曲线，采用MATLAB软件对电机控制的PID控制进行仿真，从而得到PID的最佳参数；在此基础上设计控制系统的硬件，轮椅式服务机器人控制系统中有两个AT89C51单片机、一个作为地盘的控制核心，另一个作为轮椅的控制核心，多个电机驱动芯片、电源模块，倾角传感器等，最后对控制系统的软件部分进行了设计，得到控制系统的具体程序代码。84379

毕业论文关键词：爬楼梯轮椅机器人；运动分析；电机驱动；PID 

Abstract With the social and economic development, one after another high-rise buildings appeared on the ground, but in real life, this phenomenon have seriously affected many older people with reduced mobility and limb。 Wheelchairs as their primary tool for moving, the presence of high-rise buildings limits their lives。 In order to guarantee the basic livelihood of the elderly and physically impaired persons 。Investigate and research the wheelchairs on the market, we intend to design an electric wheelchair, it is not only has the function of automatic stairs, but also can help users do some simple rehabilitation exercise。

First of all, this paper was summarized some research results about stair-climbing wheelchair robot,and studied wheelchair-service robot based on variable structure of wheel and track。 According to the designed mechanical structure of wheelchair-service robot based on variable structure of wheel and track, we carry on motion analysis and force analysis。In conjunction wheelchair-service robot-related design requirements, we determine the overall control scheme of the system in a different road。Through the simulation of the motor ,we determine the performance curve of the motor, and use MATLAB software to make PID control motor control simulation, so that we can get the best PID parameters。On the basis of the work,we design the hardware of the control system, wheelchair Serviced robot control system has two AT89C51 micro-controllers, one control core site, and the other  control the  wheelchair, a plurality of motor driver chip, power modules, tilt sensor, etc。 Finally, the software part of the control system has been designed and compile specific code of control system;

Keyword: Stair-climbing Wheelchair Robot; Motion Analysis; Motor Driver;PID

目录

第一章 绪论 1

1。1轮-履变结构轮式服务机器人研究背景 1

1。2轮-履变结构轮式服务机器人国内外研究现况 2

1。2。1 国外研究现况 2

1。2。2 国内研究现况 3

1。3基于轮-履变结构轮式服务机器人研究意义 4

1。4主要研究内容