爬楼梯电动轮椅设计
摘要本文设计了一款能够自主实现上下楼梯的电动轮椅。将轮式运动结构和履带式运动结构相结合，一来可以利用技术成熟的履带实现轮椅上下楼梯的功能；二来在无障碍条件下恢复轮式运动结构，弥补了履带结构移动速度慢和转向困难等不足。使得该产品不仅具有一般电动轮椅运行稳定、操作简单的特点，还具有良好的爬楼梯能力。本文绪论部分对现有的产品进行调研对比，提出设计思路。在确定系统功能和各部分组成后，对电动轮椅进行了机械机构、控制电路等系统的设计和计算，并相应地进行动力学分析和稳定性研究，使得设计产品能够更加合理和实用，最后对轮椅的未来发展提出展望。61612
毕业论文关键词 爬楼梯 电动轮椅 系统设计 动力学仿真 稳定性分析
毕业设计说明书（论文）外文摘要
Title Design of Stair-climbing Electric Wheelchair
Abstract This paper designed a type of electric wheelchair structure which can climb the stairs by itself, combining wheeled movement structure and crawler movement structure, making this product not only has the characteristics of stable running, just as the general wheelchairs, but also has outstanding ability to climb the stairs. Therefore, this product has more research value and practical significance. Firstly, this paper did some comparisons of the existing products, and proved the idea. Then this paper focused on the design of wheelchair, including the part of mechanical structure and the control system. On the other hand, this paper did some calculation and checkout of the mechanical parts, some corresponding dynamic analysis and the stability in the course of climbing the stairs is analyzed, making this product more stability and practical. In the end of this paper, we put a vision of the wheelchair’s development.
Keywords climbing the stairs; electric wheelchair; system designing; dynamics modeling; stability analysis
目 次
1 绪论 1
1.1 课题背景及意义 1
1.3 论文主要内容和章节安排 5
1.4 本章小结 6
2 爬楼梯轮椅总体方案设计 7
2.1 爬楼梯轮椅总体功能要求 7
2.2 整体设计思路 7
2.3 爬楼梯轮椅执行机构确定 8
2.4 爬楼梯轮椅的主要设计流程 9
2.5 本章小结 9
3 爬楼梯轮椅机械结构设计 10
3.1 爬楼梯轮椅执行机构设计 10
3.2 轮椅座椅设计 16
3.3 机架设计 18
3.4 切换机构设计 19
3.5 前后软着陆结构设计 20
3.6 总体装配 21
3.7 本章小结 22
4 爬楼梯轮椅动力学分析与稳定性研究 23
4.1 爬楼梯轮椅动力学建模