[1]王冬晓,高学山,刘云辉..轮/履耦合式无障碍轮椅系统设计及运动分析[J].郑州大学学报(工学版),2012,33(04):55-59.[doi:10.3969/j.issn.1671-6833.2012.04.013]
　WANG Dongxiao,GAO Xueshan,LIU Yunhui.Design and Kinematic Analysis of Barrier.free Wheelchair System with aWheel-tracked Coupling Mechanism[J].Journal of Zhengzhou University (Engineering Science),2012,33(04):55-59.[doi:10.3969/j.issn.1671-6833.2012.04.013]
点击复制

轮/履耦合式无障碍轮椅系统设计及运动分析()
分享到：

《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
33
期数:
2012年04期
页码:
55-59
栏目:
出版日期:
2012-07-10

文章信息/Info

Title:
Design and Kinematic Analysis of Barrier.free Wheelchair System with aWheel-tracked Coupling Mechanism
作者:
王冬晓; 高学山; 刘云辉.
北京理工大学智能机器人研究所,北京,100081, 北京理工大学智能机器人研究所,北京100081;哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001, 香港中文大学机械与自动化系,香港
Author(s):
WANG Dongxiao; GAO Xueshan; LIU Yunhui
1. lntelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081 ,China;2. State Key Laboratory of Roboticsand System (HIT), Harbin 150001 ,china;3. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong,Shatin,N.T,Hong Kong SAR,China
关键词:
无障碍轮椅;  轮/履耦合式;  越障稳定性;  模糊控制;  弹性履带
Keywords:
barrier-free wheelchair;  wheel-tracked deformable mechanism ;  tip-over stability ;  fuzzy cotrol;  elastic crawler
分类号:
TP24
DOI:
10.3969/j.issn.1671-6833.2012.04.013
摘要:
针对目前城市障碍环境下对无障碍轮椅的运动需求,将轮式移动快速性的优点和履带式移动的高越障性的优点有机地加以组合,研制开发了一种多运动模式的轮/履耦合式无障碍轮椅.其特点在于结构紧凑,通过内部变形机构和弹性履带能够快速便捷的对轮式和履带式进行自由转换,同时通过系统自动调节轮椅座椅位置和倾斜度,能够实现智能重心控制并保证轮椅的安全性和舒适性.对该轮椅的结构设计、运动特性、越障性能以及重心平衡控制功能进行了详细的分析.采用模糊控制的方法保证了无障碍轮椅调节响应速度快以及安全可靠性好的控制要求.仿真分析表明,这种无障碍轮椅具有很好的环境适应性和较高的越障能力.
Abstract:
The intention in the present paper is to provide a novel berried-free wheelchair with a wheel-trackeddeformable mechanism for the needs in urban obstacle environment in general. To combine the advantages ofnormal wheelchair and crawler wheelchair, for example rapidity and high over-obstacle ability, we design awheel-tracked deformable mechanism and an clastic crawler which can help the wheelchair to do the mode con-version from wheel to track quickly, Moreover, it also presents a fuzzy method for adjusting the gravity centerand controlling inclination of a stair-climbing wheelchair. To validate the proposed berried-free wheelchair, wehave carried out simulations with analysis. "he results demonstrate that the wheelchair has good environmentaladaptability and high over-obstacle ability.
更新日期/Last Update: 1900-01-01