| Summary: | 碩士 === 國立成功大學 === 醫學工程研究所碩博士班 === 98 === Wheelchairs are the most popularly used for mobility of the disabled. However, they do not provide standing and transfer functions. Although the power standing wheelchair helps the users stand, it does not provide transfer function. The standing frame or table is used to help the disabled stand, but usually lacks functions of transfer and mobility. The lift is designed for transfer of the patients, but it lacks the functions of mobility and standing. In the market, there is great demand to design an innovative, lightweight and intelligent robot for the disabled to provide the functions of mobility, lifting, and standing in order to improve their life quality.
This purpose of this study was to design an intelligent robot with three degrees of freedom to provide the functions of mobility, transfer and standing for the disabled with emphasis on structural and stability analyses. The fundamental mechanisms consisted of four linkages and two planetary gears driven by DC motors in order to provide positioning and movements in terms of one translation and two rotations. The aluminum alloy was chosen to construct structure of the linkage to reduce the weight. The finite element meshes were constructed to analyze the overall strength of the structure at various lifting positions with consideration of safety factor. Then, the design of lightweight structure with enough strength could be achieved by finite element analysis. In addition, a dynamic equation of motion of the whole user-machine system was developed using the center of mass of each human segments and mechanical linkages for dynamic stability. It was used to analyze and check whether the sum of external forces was directed beyond the base of support of this robot. Hopefully, the intelligent robot is lightweight, safe and effective to provide the functions of mobility, lift and standing for the disabled.
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