摘要目前，世界各地的人口老龄化越来越严重。而且随着车辆的普及，车祸的发生 率也随之升高。从而老年人以及残疾人也是越来越多。正因为这类人群的增加，人 们对轮椅的要求也越来越高。随着移动机器人的发展，全向智能轮椅作为其中一个 分支也成为了世界各地的重要研究对象。从而本课题从实际出发，研究了一款新型 的全向智能轮椅。83832

本课题中的全向智能轮椅是基于 Mecanum 轮制造而成。在电动轮椅的基础上， 将传统的大小轮组合改成四个 Mecanum 轮的组合。本文从轮椅各个部分的尺寸确 定开始阐述，先介绍了上座的各个部件，即靠背、坐垫、扶手、控制手柄。随后又 介绍了本课题中的底盘，包括了减震器、外壳、电机。然后介绍了本课题的核心内 容 Mecanum 轮，分析了 Mecanum 轮的各个部分的组成以及其具体的材料和尺寸。 同时在选定轮系的模型后分析了其工作原理和运动原理。最后在 ADAMS 软件中， 将已建立好的三维模型导入其中，对全向智能轮椅进行了三个自由度的仿真。仿真 的内容包括了轮椅的前后，左右，原地回转运动。仿真的结果表明本课题研制的全 向智能轮椅拥有稳定的移动性能，能够准确的实现全向移动。

本课题研制的成果为一款新型的全向智能轮椅。与传统轮椅相比，它拥有全向 移动的能力，从而让使用者能在更多的场合随意移动。 关键词：全向智能轮椅；Mecanum 轮；三维模型；ADAMS 仿真

Abstract Currently,the aging population of the world is becoming more and more serious。And with the popularity of the vehicle, the incidence of accidents also increased。So the elderly and persons with disabilities are also more and more。Because of this population increase,people demand for wheelchair is also getting higher and higher。With the development of mobile robot,omni-directional intelligent wheelchair has become an important research object in the world as a branch。This topic study a new type of omni-directional intelligent wheelchair from the reality。

The topic of the omni-directional intelligent wheelchair is based on the Mecanum wheel。The topic make traditional combination of the size of the wheel into a combination of four Mecanum wheel on the basis of the electric wheelchair。The each part of this topic are elaborated by the confirm of their size,and introduced the components of seat,backrest,cushion,armrest,controller firstly。Then introduced the chassis of the topic, including shock absorber,shell,motor。Finally,the topic introduced the core content of the Mecanum wheel,analyzing the composition of each part of the Mecanum wheel and the concrete material and size。Also the topic analyse the principle of working and the principle of movement after selected gear model。In the ADAMS software,the three-dimensional model has been established to import into ADAMS,and make the omni-directional intelligent wheelchair’s three degrees of freedom simulation,include three degrees of freedom of the around,the left and the right,the turning。The final simulation shows that this intelligent wheelchair has a stable mobile performance,to achieve an accurate mobile。

The development of this project is a new type of omnidirectional intelligent wheelchair。Compared with the traditional wheelchair,it has the ability to omni-directional mobile, so that users can move freely in more occasions。

Keyword:Omnidirectional intelligent wheelchair ; Mecanum wheel; three-dimensional modeling; ADAMS simulation

目 录

第一章 绪论 1

1。1 选题的目的与意义 1

1。1。1 选题背景及研究意义