Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism

被引:4
作者
李敬一 [1 ]
白阳 [1 ]
靳飞 [1 ]
王冬晓 [1 ]
高学山 [1 ,2 ]
机构
[1] Intelligent Robotics Institute,Beijing Institute of Technology
[2] State Key Laboratory of Robotics and System ( HIT)
关键词
wheelchair robot; wheel/track coupling mechanism; centroid projection method; stability margin; dynamic analysis;
D O I
10.15918/j.jbit1004-0579.2013.03.005
中图分类号
TP242.3 [专用机器人];
学科分类号
1111 ;
摘要
A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presented in this paper. Using the wheelchair,the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel-track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles,centroid projection method is applied to analyze the static stability,stability margin is proposed to provide the stability under some dynamic forces,and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally,the dynamic model of the wheelchair robot based on Lagrange equation is established,which can be a theoretical foundation for the wheelchair control system design.
引用
收藏
页码:301 / 307
页数:7
相关论文
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