智能型上下楼梯轮椅关键技术研究
文献类型：学位论文
| 作者 | 房立新
|
| 学位类别 | 工学博士 |
| 答辩日期 | 2012-05-27 |
| 授予单位 | 中国科学院研究生院 |
| 授予地点 | 中国科学院自动化研究所 |
| 导师 | 原魁 |
| 关键词 | 上下楼梯轮椅 行星轮 稳定裕量 许用角度偏移量 Stair-climbing wheelchair planetary wheel stability margin permissible angle offet |
| 其他题名 | Research of the Key Techniques on the Intelligent Stair-climbing Wheelchair |
| 学位专业 | 控制理论与控制工程 |
| 中文摘要 | 随着社会老龄化问题的日益突出，提高老年人和残障者的生活自理能力是整个社会不得不认真面对并努力解决的一个重要问题。日常生活中普遍存在的楼梯是目前的普通轮椅和电动轮椅最难以跨越的障碍之一，极大地限制了老年人和残障者的出行。在各种上下楼梯助行系统方案中，智能型上下楼梯电动轮椅可以较好地解决腿部失能老人和残障者的上下楼梯问题，因而受到了各国研究者的重视。 本文详细分析了电动型上下楼梯轮椅技术的发展现状，在对各种现有可自由移动式助行系统的方案进行了分析和比较的基础上，探讨各种方案的合理性与不足之处，总结现有方案存在的主要问题。本文针对现有电动型上下楼梯智能轮椅中普遍存在的结构复杂、体积庞大、上下楼梯时的稳定性以及操作性不佳等存在的问题，从机构设计、运动学与动力学分析、稳定裕量分析、辅助人员受力分析等方面进行了深入研究。论文的主要工作如下： 第一，详细分析了行星轮机构的不同分类,并对其进行了运动学和动力学建模。本文使用拉格朗日方法对行星轮组建立了动力学方程，对行星轮组的楼梯越障能力，以及行星轮结构的几何包容性进行了详细分析和仿真研究，为设计和开发基于行星轮组的上下楼梯电动轮椅提供了理论依据。 第二，针对行星轮式轮椅上下楼梯的稳定性问题进行了深入研究。本文从行星轮组结构的特殊性出发，详细分析了上下楼梯时轮椅的稳定裕量和向前倾翻危险，通过理论推导给出了上下楼梯时轮椅控制的理想倾角姿态，并进行了仿真验证。通过分析在上下楼梯过程中行星轮式轮椅发生台阶边缘滑落的危险的成因，指出边缘滑落风险的本质原因是行星轮组结构与台阶尺寸不匹配，而且无法通过优化行星轮的设计加以避免。 第三，深入研究了轮椅的操作性问题。通过对轮椅重心的影响因素分析，上下楼梯时辅助人员的受力分析，以及各因素对辅助人员受力的影响的仿真分析，提出了轮椅偏离平衡状态时的许用角度偏移量指标和基于这个指标对轮椅进行倾角控制的方法，以避免辅助人员的受力超过限度，保证轮椅在上下楼梯时的可操作性。 第四，开发了混合式单行星轮组结构方案的实验样机，并对本文中的研究成果进行了实验验证。该样机能够工作于手动、电动、上下楼梯三种工作模式，平时可以作为普通电动轮椅使用。在一人辅助下，该样机能够完成上下楼梯的功能。该轮椅的重要特点是结构紧凑，适用于室内环境。此外，该样机还设计了防前倾支架，可以显著提高轮椅上下楼梯时的稳定性。 最后，总结了全文的研究成果，并讨论了下一步应该继续深入开展的工作。 |
| 英文摘要 | Since the trend of aging society becomes serious day by day, how to increase the elders and handicapped people’s ability to look after themselves is an important task that shoulde be conscientiously faced with and industriously worked out to the whole society. Staircase is one of the most diffcult obstacle to overcome to an ordinary wheelchair or an electric powered wheelchair, which is found everywhere in everyday life. Intelligent stair-climbing wheelchair is given increasing attention in various solutions because it can solve the stair-climbing problem properly for people with disabilities. In this paper the development status of electric stair-climbing wheelchair technology are analyzed detailedly, and the rationality and the defect of various solutions are discussed based on analysis and comparation of them. In allusion to the existing problems of present electric stair-climbing wheelchair solutions, such as the complicated structure, enormous volume, stability and operability problem when climbing stairs, this paper conduct a in-depth study in terms of mechanism design, kinematics and dynamics analysis, stability margin analysis and the assistant’s force analysis. The main contents are presented as follows: Firstly, the classification of planetary wheel is detailedly analyzed, and the kinematics and dynamics model of it are established. Dynamics equation of planetary wheel cluster is established with Lagrange method. The planetary wheel culster’s ability of obstacle surmounting and geometrical subsumed condition are detailedly analyzed and simulated, which provided the theoretical basis for the development and design of electric stair-climbing wheelchair based on the planetary wheel cluster. Secondly, the stability of the electric stair-climbing wheelchair based on the planetary wheel cluster is studied in-depth. From the particularity of the planetary wheel structure, the stability margin and tip-over risk of the wheelchair when climbing the stairs are detailedly analyzed. The ideal angle posture of the stair-climbing wheelchair is given via the theoretical derivation and a simulation is performed to verify the concultion. By analysing the cause of the planetary wheel’s slip off the rim of the steps when the wheelchair’s stair-climbing, it is pointed out that the essential cause of the slip is the mismatching between the sizes of the planetary wheel cluster and the stairs. Furthermore, the slip danger cannot be avoided through the optimiz... |
| 语种 | 中文 |
| 其他标识符 | 200618014628016 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/6425]  |
| 专题 | 毕业生_博士学位论文 |
| 推荐引用方式 GB/T 7714 | 房立新. 智能型上下楼梯轮椅关键技术研究[D]. 中国科学院自动化研究所. 中国科学院研究生院. 2012. |
入库方式： OAI收割
来源：自动化研究所
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