履带变构式轮履复合爬楼轮椅爬楼平稳性分析  

Stability Study of the Stair-Climbing Process of Wheel-Tracked Stair Wheelchair with Variable-Structured Track

作　　者：曹冲振 周娜[2] 王凤芹[2] 陈京邦[2] 

机构地区：[1]山东科技大学交通学院,山东青岛266590 [2]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《机械设计与制造》2018年第2期192-195,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(50975164)

摘　　要：对一种基于大轮摆动的履带变构式轮履复合爬楼轮椅的爬楼平稳性进行分析。针对均匀楼梯上的爬楼过程进行数学建模,分析在爬楼过程中爬楼轮椅和人体整体的重心相对支撑台阶沿的位置关系,得出了满足平稳性要求的参数关系式,并给出了平稳性裕度的概念和计算方法,计算出常见楼梯范围内前平稳性裕度以及后平稳性裕度的最小值。针对某一台阶突高、突低、突宽或突窄四种形式的不均匀楼梯上的爬楼过程分别进行建模分析,得出了满足非均匀楼梯爬楼最平稳的平稳性要求的参数关系式,给出了验证某一楼梯参数能否满足非均匀楼梯平稳性要求的方法。进行了样机试验,进一步验证了该爬楼轮椅在常见台阶尺寸楼梯上的平稳性和非均匀楼梯上平稳性的预判方法可行。The stability of the stair-climbing process of a wheel-tracked stair wheelchair with variable-structured track is studied, Mathematical model of the stair-climbing process is established based on stairs with uniform step size, to analysis the relative position between the gravity center of the whole system and support stair edge, and obtain parameter equations which can meet stability requirements. The concept of stability margin and computing methods is presented and used to compute the minimum stability margin of the stair wheelchair climbing at general size stairs. Math.ematical model is also established based on stairs with nonuniform step size, including situations of height mutation and width mutation. And then parameter equations which can meet stability requirements at stairs with nonuniform step size are obtained, which provide a method to judge whether a nonuniform stair can meet stability requirements by parameter calculatior~ Prototype tests are made to validate that the stair wheelchair can climb stair with general step size steadily and the stability judgment method for stairs with nonuniform step size is feasible.

关 键 词：履带变构 轮履复合 爬楼轮椅 平稳性分析 非均匀楼梯 样机试验 

分 类 号：TH16[机械工程—机械制造及自动化]