爬階輪椅之控制器設計與實作

The design and implementation of a climb-step wheeled chair

陳威成(Wei-Cheng Chen)

指導教授 ： 陳建祥

國立清華大學/工學院/動力機械工程學系/碩士(2009年)

摘要

摘要
隨著醫療科技的進步，人類平均壽命的提升，導致全球人口結構逐漸地老化，促使高齡社會悄悄地來臨。為了改善因身體機能退化而造成的不便，老年輔具由此而生。
本研究是在設計一個搭電扶梯為主、爬一階階梯為輔的智慧型輪椅。在國內，電扶梯的上升和下降速度差不多以15cm/s左右為主，這將導致在升降機構的設計必須具有快速上下移動的能力，於是利用交叉連桿的特性──「小角度換大位移」來達成上述要求。為了決定升降系統、爬階輔助機構、後輪和威爾迪爾桁架之尺寸大小，本研究根據虛功原理、力學分析與動態模擬，再配合電扶梯規格、階梯規格和市場趨勢，來完成實驗平台。接著，本研究以C8051F340為核心，整合馬達控制、搖桿與感測器之訊號擷取、RS232傳輸、數位濾波器及PD控制器。最後，本研究除了以搭乘電扶梯與爬一階階梯的實驗結果來驗證爬階輪椅之可行性外，並利用RS232回傳的傾斜角度來說明爬階輪椅具有維持車身水平的基本能力。

關鍵字

爬階輪椅 ； 電扶梯 ； 平衡 ； 交叉連桿

並列摘要

Abstract
Due to the advancement of medical technology, the average age of human has been prolonged, which results in the coming of aging society. To solve the problem of the physically handicapped to move outdoors, the assistance device for the elderly and disabled would be designed by human.
In this thesis, first, an intelligent wheelchair can be designed to accomplish two missions, one of which is to take the escalator, the other is to climb up the step stably. In Taiwan, the ascending or descending speed of escalator is around 15cm/s, which causes the design of mechanism must be mobile, so we adopt the crossing-linkage for its characteristic - “ good response at transforming speed ” to satisfy above-mentioned condition. Through virtual work principle, dynamic analysis, the specification of escalators and step, stress analysis, and the trend of market, we are able to decide the size of crossing-linkage, the assistance device for climbing step, rear tires, and Vierendeel frame truss to accomplish experimental model. Second, we use the MCU C8051F340 as the control center of entire system, which combines the motor control, signal processing of the joy stick and sensors, communication in RS232, the digital filter, and the PD controller. Finally, we not only verify the performance of stair-climbing wheelchair based on the experiments of taking the escalator and climbing one step, but also illustrate the fundamental ability of balance with the inclined angle which is transmitted by RS232 from C8051F340.

並列關鍵字

climb-step wheeled chair ； escalator ； balance ； crossing-linkage

參考文獻

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