智慧型助行器之動力模組系統整合的研究

Dynamic Module System Integration of Intelligent Walker

王長亮(Chang-Liang Wang)

指導教授 ： 陽毅平

國立臺灣大學/工學院/機械工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.00267

摘要

本篇論文的目的是設計可提供重度失能者使用的新型助行器。新型助行器必須提供良好的支撐性及穩定度，並且要有速度控制及防滑機制以保護使用者的安全。
首先利用助行器的數學運動模型，分析助行器在不同尺寸下對煞車性能的影響。並在助行器的後輪上裝有電磁煞車，當助行器的速度過快時，控制器送出訊號啟動電磁煞車將後輪鎖住，以避免使用者發生危險。而為防止助行器滑動過快，在後輪也必須加裝阻尼裝置，可讓助行器在行進間提供適當的阻力，保護使用者的安全。因控制器及電磁煞車都必須在充足的電源下工作，因此控制器必須能夠提供一個良好的殘餘電量估測，避免因電源不足所產生的危險。

關鍵字

鎳鎘電池 ； 阻尼器 ； 助行器 ； 電磁煞車

並列摘要

The purpose of this thesis is to develop a new design of the new walker which can provide better support and stability for the severely disabled. And the new walker must include the speed control and the device to prevent the user from falling down.
First, the mathematical dynamic model for the new walker is constructed. This model analyzes how the dimension of the walker influences the braking performance. Besides, the rear wheel of the walker is equipped with the electro- magnetic brake (EM brake) which can be triggered by the controller and therefore lock the rear wheel when the speed of the walker is too high. Furthermore, for the sake of the user’s safety, the damping device in the rear wheel can provide appropriate force to prevent the walker from slipping too fast. However, the controller and the EM brake have to work with sufficient supply power. As a result, the controller must be able to provide a good estimation for residual capacity of batteries to avoid possible dangers resulting from the insufficient power supply.

並列關鍵字

Walker ； brake ； damper ； Ni-Cd battery

參考文獻

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