新型爬楼梯轮椅稳定性的灵敏度分析

Sensitivity analysis of stability of a new stair climbing wheelchair

建立了爬楼梯轮椅正常运动状态和翻转状态的动力学模型，并以阻翻能量裕量作为定量衡量爬楼梯轮椅稳定性的评价指标，对其稳定性进行了分析．结果表明，爬楼梯轮椅每分钟所爬台阶级数对其稳定性影响明显．利用灵敏度分析方法，分析了爬楼梯轮椅各参数对其稳定性的影响．结果表明，爬楼梯轮椅质心相对于曲柄铰链点的水平位移以及爬楼梯杆与水平面的夹角对其稳定性影响明显．

Dynamic model of a new stair climbing wheelchair (SCWC) for its normal motion and rollover condition is presented.Based on energy consideration,the rollover prevention reserve of the SCWC is derived and used as an evaluation index of SCWC rollover stability for stability analysis. The results show that the number of steps climbed per minute has remarkable influence on the dynamic stability of SCWC. The mathematical model for sensitivity analysis of the stability is established and the influence of kinematic parameters on the dynamic stability is analyzed.The results show that horizontal shift of mass center of the wheelchair relative to front hinge of the crank, elevation angle of stair climbing stick have also a remarkable influence on the stability of the SCWC.