單自由度多功能輪椅創新與系統化設計

傳統多功能輪椅大都使用多自由度機構，並利用多個動力源來完成多種運動功能。本論文之主要目的在於利用創新設計方法，設計出單自由度機構之多功能輪椅，包括：1. 具備坐、升和站的多功能輪椅; 2. 具備坐、升、站和躺的多功能輪椅。本論文所設計之多功能輪椅，其運動機構為單自由度之機構，因此只要以單一動力源就可操作多種運動功能，具有操作簡單和高承載之功用，且單自由度機構比多自由度機構更穩固、安全。傳統站立式輪椅站立時重心會往前移，需多使用兩輔助輪，此時輪椅會變成六輪輪椅。本論文，首先，應用奧斯本檢核表法創新設計出具單自由度機構之多功能輪椅；根據機構尺寸合成理論，設計出多功能輪椅之各機件尺寸，使得多功能輪椅在站立後的重心依然位於至前後二輪之間，不需要額外的輔助輪。接著，藉由SolidWorks 軟體，進行輪椅之運動機構3D 繪圖與工程設計，並應用SolidWorks Motion軟體進行機構運動分析，確保操作上之安全性與穩定度。最後，進行縮小模型之雛型機製作，驗證理論結果。本研究結果證實，使用單自由度機構所設計之多功能輪椅是非常可行的，此設計具備低成本、操作簡單、高承載、重心不偏移、結構穩固…等優點；本研究成果將可提升台灣在多功能輪椅的研發能力，提升產業競爭力。

關鍵字

奧斯本檢核表法；創新設計；單自由度機構；多功能輪椅

並列摘要

Traditionally, the mechanism of multi-functional wheelchair has multi degrees of freedom, and used multiple power sources to complete the multi motion function. The purpose of this thesis is to invent new multi-functional wheelchair with single degree of freedom. The multi-functional wheelchairs designed in this thesis include 1. Multi-functional wheelchair with sitting, lifting, and standing functions, and 2. Multi-functional wheelchair with sitting, lifting, standing, and lying down functions. The mechanisms proposed for multi-functional wheelchairs in this thesis have 1 degree of freedom. Hence, using only 1 power source drives the mechanism to achieve multi motion functions. The new design has the advantages of 1.simple operation, 2. high load bearing, 3.more stability, and 4 more safety. When the wheelchair standing up, the center of gravity of traditional standing wheelchair is moved forward, it needs to use more 2 wheels, the wheelchair will become six wheelchairs. In this thesis, first, by using the checklist method of Osborn, the multi-functional wheelchairs with single DOF are invented. According to theory of dimentional synthesis of mechanism, the dimentions of multi-functional wheelchair are synthesized. The center of gravity of new multi-functional wheelchair after standing still located between the front and rear wheels, no additional wheels needed. Then, by using Solidworks software, 3D drawing and engineering design of multi-functional wheelchairs are carried out. Applying SolidWorks Motion software, the kinematic analysis and simulation are carried out to ensure the security and stability in the operation. Finally, the narrow model of the prototype is manufactured to verify the theoretical results. The results of this research will enhance Taiwan's R & D capability in the multi-functional wheelchair to enhance industrial competitiveness.