摘要随着我国进入老龄化社会的进程逐渐加快，各种疾病、灾害、交通事故等造成下肢损伤的人数也逐渐增加，为老年人和残疾人提供多功能的代步工具已经成为社会的焦点之一。轮椅式服务机器人作为一种先进的代步工具可以帮助他们出行，使他们重新获得生活的自理能力,更好地融入社会。目前世界各国都在积极开展有关轮椅式服务机器人相关技术的研究，也都取得了一定的进展。我国对于轮椅式服务机器人的研究起步相对较晚，在研究水平上和一些发达国家还有一定差距。在这种情况下，本文设计了一种基于轮-履变结构的轮椅式服务机器人来改善老年人和残疾人的出行状况。84448

本文首先分析了国内各种外轮椅式服务机器人的发展情况，然后针对轮椅式服务机器人的功能要求，设计了一种轮-履变结构的轮椅式服务机器人的结构方案。并在此基础上对轮椅式服务机器人滚轮、旋转机构、座椅和前部支撑机构等进行了详细的结构设计，利用ProE三维建模软件建立了轮椅式服务机器人的三维模型，对各零部件进行强度校核。接下来对轮椅式服务机器人在各种工况下的运行情况进行了运动学分析，着重研究和分析了轮椅式服务机器人在履带模式下攀越台阶和斜坡以及越过壕沟的运动原理。同时针对轮椅式服务机器人的康复训练机构功能的实现，进行了各机构之间联动的计算。最后完成了轮椅式服务机器人整体模型的装配并对机构进行仿真研究。

本文设计的轮椅式机器人可以有效改善老年人和残疾人的出行状况，使他们更好地融入社会，对促进社会的和谐具有重大意义。

毕业论文关键词：轮履变结构；康复训练机构；轮椅式服务机器人；结构设计；

Abstract Our country are entering an aging society now and various diseases, disasters and traffic accidents cause more and more leg injury。Providing the elderly and the disabled with a multi-function mobile tool has become a society focus。 As a advanced mobile tool, wheelchair-service robot can help the elderly and the disabled travel out, regain their life self-care ability and integrate into society again better。 At present, countries are all going on relevant researches。 Achievement has been achieved。Compared to some developed countries, our country still stay a low level for we started too late。 In this case, this paper designed a wheelchair-service robot which is based on wheel-tracked alternative structure to improve the travel condition of the elderly and the disabled。

Firstly, development of the wheelchair-service robot in both home and abroad are analyzed。And according to the design requirements, the whole structure are proposed next。 Otherwise, rotating mechanism, seats and front support institutions and so on are designed in detail and checked。The 3D model are also be established in ProE。 Then the paper does the kinematics analysis of the robot which works in various conditions, focusing on climbing stairs and ramps and cross the ditch。 At the same time, according to the function of rehabilitation training institution, we calculate the linkage between agencies。 At last, wheelchair-service robot is assembled and simulated。 

The wheelchair-service robot designed in this paper can effectively improve the travel condition of the elderly and the disabled and help them integrate into society better, which is of great importance to promote social harmony。

Keywords: Wheel-Tracked alternative structure; Rehabilitation training institution; Wheelchair-service robot; Structure design;

目录

第一章 绪论 1

1。1课题研究的目的和意义 1

1。2轮椅式服务机器人的国内外研究现状