基于行星轮系的爬楼梯轮椅研究
摘要
本文的目标是通过研究设计出一种上下楼梯机构,为最终设计出一款价格适中、性能先进的助老助残机器人轮椅奠定基础。文中首先分析了国内外各种爬楼梯机构,在对比总结各自优缺点的基础上,根据国内实际情况,提出了一种人工辅助上下楼梯机构。
该机构采用行星轮系机构。在平地上行走时,由主电机驱动,4个车轮均着地,具有四轮驱动特点。通过控制两侧车轮的转速可以实现转弯。爬楼梯时,由另一对电机驱动行星摇臂转动,两对驱动轮交替着地,从而实现上下楼梯。整个轮椅外形尺寸相当于普通的轮椅,省去了复杂的重心平衡系统,成本大为降低。上楼梯时需要陪同人员适当用力,通过调整轮椅重心位置来减少电机用力。
整个轮椅结构比较简单、实用性强,为进一步改进提高打下了良好基础。
This paper is working on a research of one mechanism which has ability of stairs climbing. And this mechanism will help on the research of robot wheel-chair which will have acceptable price and various function for all the wheel-chair users. After analyzed several of stairs climbing mechanisms and compared each advantage and disadvantage, this paper is introducing a paramedic required stairs climbing mechanism.
The Planetary Gear system is applying on this mechanism. Driven by electric motors, the wheel-chair can roll on the road. Four wheels contact with the road, So it is a 4-wheel drive wheel-chair. It can turn freely through controlling the speed and each side. When climbing the chairs, the arm of the Planetary Gear is driven by another pair of motor, the two wheels on each side will support the wheel-chair alternately to move the wheel-chair to up or down stair.
The outline dimension of this stair-climbing wheelchair will be close with the common wheelchairs. Without IBOT’s complicated top gravity balance system, the cost is decreased a lot. It doesn’t need one paramedic much strength; just adjust the position of the gravity center to decrease the output of the motors.
This wheel-chair has simple configuration, and good practicability. It made a quite good foundation for further research and improvement.
该机构采用行星轮系机构。在平地上行走时,由主电机驱动,4个车轮均着地,具有四轮驱动特点。通过控制两侧车轮的转速可以实现转弯。爬楼梯时,由另一对电机驱动行星摇臂转动,两对驱动轮交替着地,从而实现上下楼梯。整个轮椅外形尺寸相当于普通的轮椅,省去了复杂的重心平衡系统,成本大为降低。上楼梯时需要陪同人员适当用力,通过调整轮椅重心位置来减少电机用力。
整个轮椅结构比较简单、实用性强,为进一步改进提高打下了良好基础。
This paper is working on a research of one mechanism which has ability of stairs climbing. And this mechanism will help on the research of robot wheel-chair which will have acceptable price and various function for all the wheel-chair users. After analyzed several of stairs climbing mechanisms and compared each advantage and disadvantage, this paper is introducing a paramedic required stairs climbing mechanism.
The Planetary Gear system is applying on this mechanism. Driven by electric motors, the wheel-chair can roll on the road. Four wheels contact with the road, So it is a 4-wheel drive wheel-chair. It can turn freely through controlling the speed and each side. When climbing the chairs, the arm of the Planetary Gear is driven by another pair of motor, the two wheels on each side will support the wheel-chair alternately to move the wheel-chair to up or down stair.
The outline dimension of this stair-climbing wheelchair will be close with the common wheelchairs. Without IBOT’s complicated top gravity balance system, the cost is decreased a lot. It doesn’t need one paramedic much strength; just adjust the position of the gravity center to decrease the output of the motors.
This wheel-chair has simple configuration, and good practicability. It made a quite good foundation for further research and improvement.
引文
[1]熊光明,赵涛,龚建伟,高峻晓.服务机器人发展综述及若干问题探讨[J].机床与液压,2007,35(3):210-220
[2]iBOT? 4000 Mobility System,Independence Technology.L.L.C. http://www.ibotnow.com.
[3]苏和平,王人成.爬楼梯轮椅的研究进展[J].中国康复医学杂志,2005,20(5):366-368
[4]段星光,黄强,李科杰.小型轮履腿复合式机器人设计及运动特性分析[N].机械工程学报,2005,41(8):109-110.
[5]段星光,黄强,李京涛,张明路.多运动模式的小型地面移动机器人设计与实现[N].机械工程学报,2007,18(1):8-12.
[6]徐树光.无障代步轮椅.中国专利01140292.X[P]
[7]项海筹,乌兰木其,张济川.手动爬楼梯轮椅[J].中国康复医学杂志,1999,9(2):62-66.
[8]苏和平,王利华.手动爬楼梯轮椅爬行部件的改进[J].中国康复医学杂志,1999,14(5):219.
[9]Lawn MJ, Ishimatsu T. Modeling of a stair-climbing wheelchair mechanism with high single-step capability. IEEE Trans Neural Syst Rehabil Eng 2003; 11(3);323-32
[10]Lee Woosub, Kang Sungchul, Kim Munsang, et al. ROBHAZ-DT3: Teleoperated Mobile Platform with Passively Adaptive Double– track Hazardous Environment Applications. [C]//Proc. Of IROS. Sendai, Japan, 2004: 33-38.
[11]Lee C H, Kim S H, Kang S C, et al. Double– tract Mobile Robot for Hazardous Environment Applications [J], The International Journal of the Robotics Society of Japan Advanced Robotics, 2003, 17(5): 447-459.
[12]Shigeo Hirose, Edwardo F. Fukushima, et al. Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS– VI [C]//Proc. of Int. Conf. on ICRA. Seoul, Korea, 2001: 1540-1545.
[13]郭永利.一种爬楼梯的轮椅.中国专利01211658.0[P]
[14]韩广,王田苗,梁建宏,赵建昌.一种有效爬越楼梯的模块化的可重组履带结构.机器人ROBOT. 2004, 26(5): 401-403.
[15]Osamu Matsumoto,Shuuji Kajita,Kazuo Tani.Fast Passing over Steps with Unknown Height by a‘Variable Structure Type Four-wheeled Robot’.1131-1137.
[16]Yoshihiro Takita,Nobuhiro Shimoi,Hisashi Date.Development of a Wheeled Mobile Robot "Octal Wheel" Realized Climbing up and Down Stairs,2440-2445,IEEE 2004.
[17]Redwan M. Alqasemi,Edward J. McCaffrey,Kevin D. Edwards,Rajiv V. Dubey. Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms,469-472,IEEE 2005.
[18]A new principle for climbing wheeled robots:serpentine climbing with the open wheel platform,3405-3410,IEEE 2006.
[19]Naoji SHIROMA,Yu-huan CHIU,Zi MIN et al.Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality,4000-4005,IEEE 2006.
[20]Masayoshi Wada. Studies on 4WD Mobile Robots Climbing Up a Step.1529-1534,IEEE 2006.
[21] Nancy G C,Xu Y S.Dynamic Model of a Gyroscopic Wheel[C].Proceedings of the IEEE International Conference on Robotics and Automation,1998:2683—2688
[22] Hayati S,Volpe R.et a1.The Rocky 7 Rover:a Mars Science craft Prototype[C].Proceedings of IEEE International Conference on Robotics and Automation.1997:2464 2485
[23]乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析[J].机器人,2004,26(4):301-305.
[24]Huang Qiang, Kenji K, Kazunito Y, et al. Balance Control of a Biped Robot Combing Off-line Pattern with Real-time Modification[C]//Proc. IEEE Int. Conf. Robotics and Automation. San Francisco, 2000: 3346-3352
[25]Krotkov E,Simmons R.Perception,Planning and Control for Autonomous Walking with the Ambler Planetary Rover[J].The International Journal of Robotics Research,1996,15(2):155-180
[26]苏和平,王人成.一种双联行星轮机构电动爬楼梯轮椅的设计[J].中国临床康复杂志,2005,9(26):144-145.
[27]张海洪,谈士力,龚振邦.全方位越障机构的设计.机械设计与制造工程,2000, 29(3): 12-13.
[28]张海洪,谈士力,龚振邦.全方位越障移动机构研究.机器人ROBOT,2001, 23(4):341-345.
[29]国家技术监督局,中华人民共和国国家标准,电动轮椅车GB12996-91, 1991, 1-5.
[30]杨景蕙,陆玉,唐蓉城,机械设计[J],机械工业出版社1996:171-331.
[31]段星光,黄强,李科杰.小型轮履复合机器人设计及运动特性分析.机械工程学报,2005, 41(8): 108-114.
[2]iBOT? 4000 Mobility System,Independence Technology.L.L.C. http://www.ibotnow.com.
[3]苏和平,王人成.爬楼梯轮椅的研究进展[J].中国康复医学杂志,2005,20(5):366-368
[4]段星光,黄强,李科杰.小型轮履腿复合式机器人设计及运动特性分析[N].机械工程学报,2005,41(8):109-110.
[5]段星光,黄强,李京涛,张明路.多运动模式的小型地面移动机器人设计与实现[N].机械工程学报,2007,18(1):8-12.
[6]徐树光.无障代步轮椅.中国专利01140292.X[P]
[7]项海筹,乌兰木其,张济川.手动爬楼梯轮椅[J].中国康复医学杂志,1999,9(2):62-66.
[8]苏和平,王利华.手动爬楼梯轮椅爬行部件的改进[J].中国康复医学杂志,1999,14(5):219.
[9]Lawn MJ, Ishimatsu T. Modeling of a stair-climbing wheelchair mechanism with high single-step capability. IEEE Trans Neural Syst Rehabil Eng 2003; 11(3);323-32
[10]Lee Woosub, Kang Sungchul, Kim Munsang, et al. ROBHAZ-DT3: Teleoperated Mobile Platform with Passively Adaptive Double– track Hazardous Environment Applications. [C]//Proc. Of IROS. Sendai, Japan, 2004: 33-38.
[11]Lee C H, Kim S H, Kang S C, et al. Double– tract Mobile Robot for Hazardous Environment Applications [J], The International Journal of the Robotics Society of Japan Advanced Robotics, 2003, 17(5): 447-459.
[12]Shigeo Hirose, Edwardo F. Fukushima, et al. Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS– VI [C]//Proc. of Int. Conf. on ICRA. Seoul, Korea, 2001: 1540-1545.
[13]郭永利.一种爬楼梯的轮椅.中国专利01211658.0[P]
[14]韩广,王田苗,梁建宏,赵建昌.一种有效爬越楼梯的模块化的可重组履带结构.机器人ROBOT. 2004, 26(5): 401-403.
[15]Osamu Matsumoto,Shuuji Kajita,Kazuo Tani.Fast Passing over Steps with Unknown Height by a‘Variable Structure Type Four-wheeled Robot’.1131-1137.
[16]Yoshihiro Takita,Nobuhiro Shimoi,Hisashi Date.Development of a Wheeled Mobile Robot "Octal Wheel" Realized Climbing up and Down Stairs,2440-2445,IEEE 2004.
[17]Redwan M. Alqasemi,Edward J. McCaffrey,Kevin D. Edwards,Rajiv V. Dubey. Analysis, Evaluation and Development of Wheelchair-Mounted Robotic Arms,469-472,IEEE 2005.
[18]A new principle for climbing wheeled robots:serpentine climbing with the open wheel platform,3405-3410,IEEE 2006.
[19]Naoji SHIROMA,Yu-huan CHIU,Zi MIN et al.Development and Control of a High Maneuverability Wheeled Robot with Variable-Structure Functionality,4000-4005,IEEE 2006.
[20]Masayoshi Wada. Studies on 4WD Mobile Robots Climbing Up a Step.1529-1534,IEEE 2006.
[21] Nancy G C,Xu Y S.Dynamic Model of a Gyroscopic Wheel[C].Proceedings of the IEEE International Conference on Robotics and Automation,1998:2683—2688
[22] Hayati S,Volpe R.et a1.The Rocky 7 Rover:a Mars Science craft Prototype[C].Proceedings of IEEE International Conference on Robotics and Automation.1997:2464 2485
[23]乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析[J].机器人,2004,26(4):301-305.
[24]Huang Qiang, Kenji K, Kazunito Y, et al. Balance Control of a Biped Robot Combing Off-line Pattern with Real-time Modification[C]//Proc. IEEE Int. Conf. Robotics and Automation. San Francisco, 2000: 3346-3352
[25]Krotkov E,Simmons R.Perception,Planning and Control for Autonomous Walking with the Ambler Planetary Rover[J].The International Journal of Robotics Research,1996,15(2):155-180
[26]苏和平,王人成.一种双联行星轮机构电动爬楼梯轮椅的设计[J].中国临床康复杂志,2005,9(26):144-145.
[27]张海洪,谈士力,龚振邦.全方位越障机构的设计.机械设计与制造工程,2000, 29(3): 12-13.
[28]张海洪,谈士力,龚振邦.全方位越障移动机构研究.机器人ROBOT,2001, 23(4):341-345.
[29]国家技术监督局,中华人民共和国国家标准,电动轮椅车GB12996-91, 1991, 1-5.
[30]杨景蕙,陆玉,唐蓉城,机械设计[J],机械工业出版社1996:171-331.
[31]段星光,黄强,李科杰.小型轮履复合机器人设计及运动特性分析.机械工程学报,2005, 41(8): 108-114.
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