tailieunhanh - Bioinspiration and Robotics Part 15

Tham khảo tài liệu 'bioinspiration and robotics part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 480 Bioinspiration and Robotics Walking and Climbing Robots 5. Conclusions A new approach has been presented for designing and building a climbing-wheelchair. Its main features are a automatic adaptation to steps with different heights b easy maintenance of the verticality of the wheelchair c the climbing of stairs requires less effort from the actuators only a subset of the actuated degrees of freedom is needed when the trajectory slope of the chair frame is the same as the slope of the racks or the slope of the wheels depending on the configuration d weight and energy consumption are reduced and e wheelchair stability is guaranteed during every moment because its weight is always transferred to horizontal surfaces and the support polygon is always greater than or equal to the support polygon of the conventional powered wheelchairs. The mechanical design methodology decomposes the original mechanical problem into two different subproblems which have been implemented with separate mechanical devices. On the one hand the climbing mechanism solves the problem to overcome a single step and on the other hand the positioning mechanism ensures the stability and the verticality of the seat in environments with different height axles. Then the synthesis process depicts the final dimensions of both mechanical devices. The final solution found has some advantages very high payload capacity light weight and low cost. The kinematics design methodology allows full motion of the degrees of freedom of the whole system and it has been adapted to continuous smooth profiles and profiles composed of flat floor and staircases this profile admits analytical solutions . The inverse kinematics model of our wheelchair prototype makes it possible to determine the real time trajectories for the articulated degrees of freedom of the wheelchair. This is important since a comfortable motion of the wheelchair requires an individual motion of the degrees of freedom in order to maintain a desired

TỪ KHÓA LIÊN QUAN
crossorigin="anonymous">
Đã phát hiện trình chặn quảng cáo AdBlock
Trang web này phụ thuộc vào doanh thu từ số lần hiển thị quảng cáo để tồn tại. Vui lòng tắt trình chặn quảng cáo của bạn hoặc tạm dừng tính năng chặn quảng cáo cho trang web này.