摘要
针对现有的载人履带式爬楼梯轮椅质量大和成本高的缺点,开发一种轮-履复合机构的新型载人爬楼梯履带车。首先设计履带传动机构、轮式切换机构和轮椅搭载调节机构,并搭建运动控制系统。其次,对载人履带车上下楼梯过程中的稳定性进行定量化分析与评价,并通过Matlab进行了仿真分析。在此基础上进行了上下楼梯稳定度仿真与分析、载人爬楼梯过程与力矩测量实验。实验结果表明:在载重75 kg的情况下,爬楼梯履带车能以0.12 m/s的速度爬上住宅楼梯。
For the disadvantages of high weight and high cost of the existing tracked stair-climbing wheelchairs,it is necessary to develop a new type of wheel-tracked manned stair-climbing vehicle.Firstly,the tracked transmission mechanism,wheeled switching mechanism,and wheelchair equipped with adjusting mechanism were designed,at the same time its motion control system was established.Then,the quantitative analysis and evaluation on the stability of the manned tracked vehicle climbing up and down the stairs were carried out,and the simulation analysis was carried out by using Matlab.On this basis,carry out up and down stars stability simulation and analysis,and experiment of climbing stairs process and moment measurement test.The experimental results showed that the designed vehicle can climb the house stairs at a speed of 0.12 m/s when the load was 75 kg.
作者
徐俊翊
陶卫军
张涵
Xu Junyi;Tao Weijun;Zhang Han(School of Mechanical Engineering,Nanjing University of Science&Technology,Nanjing 210094,China)
出处
《兵工自动化》
2019年第1期88-92,共5页
Ordnance Industry Automation
关键词
爬楼梯履带车
轮-履复合
结构设计
控制系统搭建
稳定性分析
仿真与实验
stair-climbing crawler
wheel-tracked compound
structure design
control system establishment
stability analysis
simulation and experiment
