行星轮式爬楼梯轮椅的越障能力分析

Obstacle surmounting capability analysis of planetary wheeled stairs-climbing wheelchair

为了确定行星轮式爬楼梯轮椅的越障能力,通过简化力学模型,分析了"半控"行星轮越过垂直障碍的高度和行星轮结构参数等各关系,并重点分析了"半控"行星轮在遇到高于其可以越过的垂直障碍后的越障能力与行星轮传动比的关系,从而得出"半控"行星轮可以越过的最大垂直障碍高度。文中也分析了星轮行星轮可转换式登楼轮的越障能力。并且用ADAMS软件对理论分析的几种情况进行了仿真分析。仿真分析表明,理论推导是可靠的。

For the sake of determining the obstacle crossing ability of planetary wheeled stairs-climbing wheelchair, the relationship between the height that the ＂half controlled ＂ planetary wheel could climbing over the vertical obstacle and the structural parameters of planetary wheel was analyzed by means of simplified mechanics model. And the relation between the obstacles surmounting capability of the ＂ half controlled＂ planetary wheel while coming across a vertical obstacle higher than it can climb and the transmission ratio of planetary＂ wheel was emphatically analyzed, thus the maximum height of vertical obstacle that the ＂half controlled＂ planetary wheel could surmount was obtained. The surmounting capability of the convertible staircase-climbing wheel of star wheel and planetary wheel was also analyzed as well in this paper. Moreover, the simulation analysis on several cases of theoretical analysis was carried out by the use of ADAMS software. The result of analysis showed that the theoretical derivation was reliable.