Jixie chuandong (Nov 2023)
Structure Design and Kinematic Stability Study of a Forward Ladder Climbing Wheelchair
Abstract
In order to analyze the influence of the climbing posture on the motion characteristics and stability of the ladder climbing wheelchair, a concept of the forward ladder climbing wheelchair is put forward. The structure of the ladder wheelchair is designed and the kinematic model of the ladder wheelchair is established. The motion characteristics of the forward ladder wheelchair are analyzed by simulation, and the stability of its operation is verified. By introducing the parameters of the change of the center of gravity of the wheelchair, the quantitative analysis equation of the tilting stability of the forward ladder climbing wheelchair is established, and the stability change of the wheelchair during the ladder climbing process is obtained. The results show that the stability and the ladder wheelchair stance advance the ladder wheelchair stability to a range from 0.26 to 0.74, the minimum value is increased by 136.36%, and the maximum value is increased by 100%. The prototype is made and the experiment is carried out to verify the feasibility and effectiveness of the forward ladder climbing wheelchair.
