| Summary: | 博士 === 大葉大學 === 機械與自動化工程學系 === 99 === This study presents the mechanical design, stability analysis, the locomotion and the associated dynamic models of a new robotic wheelchair on climbing stairs. The prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base so that the robotic wheelchair can ascend and descend stairs; especially, capability of climbing winding stairs is addressed. In additional, the short arm, long arm and triangular support structures within each rotational multi-limbed structure rotate under the actuating effects of epicyclical gear trains. The rotational multi-limbed mechanisms are developed to solve for the stair-climbing whilst ensuring the stability of the sitting base at all stages of the stair navigation maneuver without the need for additional servo-mechanisms, and the proposed robotic wheelchair shows the simplification of the associated operation process. Based on the skid-steering analysis, the dynamic models for climbing winding stairs are developed for the trajectory planning and motion analyses. These models are required to ensure a passenger’s safety in such a way that the robotic wheelchair is operated in an open mode. Moreover, an equivalent constraint method is proposed for the prescribed motion of the robotic wheelchair on climbing winding stairs. The results of the simulation and maneuver are reported that show the behavior of the prototype as it climbs a winding stair in a dynamic turning.
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