摘 要

本文在已存在的爬楼梯轮椅的基础上，设计了一种杆——轮结合式的步进式爬楼梯小车，主要利用伸缩杆实现爬楼梯的功能。

对于小车平地行走的情况，由后轮的两个电机驱动，并实现转弯功能；对于爬楼梯运动的情况，由伸缩杆带动小车的车轮和支腿作交替运动，使得小车的每一组轮子和支腿逐步上下台阶，并利用SOLIDWORKS软件完成了小车爬楼梯的仿真动画，对原理的可行性作出了合理的论证。

本文对小车的主要机械结构作了设计和分析。对车轮的驱动建立了运动学和动力学的模型，对驱动轴进行了设计计算并校核了轴的强度，对伸缩杆进行了压杆稳定性的分析，对小车的承重面作了有限元分析，论证了小车的机械结构是满足设计的要求。

本文还设计了小车的伺服控制系统，分析了小车的控制模式和性能。在此基础上，选择了合适的伺服电机作为小车的驱动装置。最后，本文对所设计的小车作出了经济性分析，为小车的实体化打下了基础。

论文通过对爬楼梯小车进行总体设计和力学分析，提出并设计了一种新型的爬楼梯小车，为爬楼梯机器人的研究提供了新的思路。

关键词：爬楼梯小车 运动仿真 结构设计 力学分析 伺服控制系统

Abstract

Based on the existing staircase wheelchair, this paper designs a kind of climbing vehicle with rod - wheel combination, which mainly uses the telescopic rod to realize the function of climbing staircase.

For the case of walking on the ground, the vehicle is driven by the two wheels of the rear wheel, and to achieve the turning function; for climbing staircase movement, the telescopic rod drives the wheels and legs of the vehicle for alternating movement, making the car of each group of wheels and support legs gradually step up and down the stairs. And the simulation animation of climbing stairs of the vehicle was made by SOLIDWORKS software to make a reasonable argument about the feasibility of the principle.

In this paper, the main mechanical structure of the car is designed and analyzed. The kinematics and dynamics models are established for the drive of the wheel. The design of the drive shaft is calculated and the strength of the shaft is checked. The stability of the telescopic rod is analyzed, and the bearing plane of the car is made finite element Analysis, demonstrated the mechanical structure of the car is to meet the design requirements.

This paper also designs the servo control system of the small car, and analyzes the control mode and performance of the car. On this basis, the appropriate servo motor was selected as a car drive device. Finally, this article made an economic analysis about the small vehicle, which lay the foundation for the substantive.

In this paper, a new type of climbing staircase is proposed and designed, which provides a new idea for the research of climbing stair ladder.

Key words: Climbing vehicle Motion simulation Structural design Mechanical analysis Servo control system

目录

第一章 绪论 1

1.1背景及意义 1

1.2国内外现状 1

1.2.1轮组式爬楼梯轮椅 2

1.2.2履带式爬楼梯轮椅 4

1.2.3步进式爬楼梯轮椅 5

1.3研究（设计）的基本内容与方案 6

1.3.1拟解决的关键问题和难点 6

1.3.2研究方案及措施 6

1.4本章小结 7

第二章 智能小车系统总体方案的设计 9

2.1爬楼梯原理的分析与设计 9

2.2爬楼梯原理的可行性论证 11

2.3本章小结 11

第三章 智能小车机构的运动学和动力学分析 12

3.1车轮驱动的运动学和动力学模型 12

3.1.1车轮驱动的运动学模型 12

3.1.2车轮驱动的动力学模型 13

3.2传动轴的设计计算 16

3.2.1驱动轴的设计计算 16

3.2.2从动轴的设计计算 19

3.3伸缩杆的强度计算与校核 19

3.4基于ANSYS的机构力学分析 22

3.5本章小结 24

第四章 伺服系统的设计及性能分析 25

4.1控制系统的设计 25

4.2伺服电机的选型 26

4.3本章小结 27

第五章 环境影响与经济性分析 28

第六章 总结与展望 29

6.1总结 29

6.2展望 29

参考文献 30

致谢 32

第一章 绪论

1.1背景及意义

楼梯是工业和日常生活场景中常见的设施，人和货物上下楼梯是常见的工作需求，因此，具有爬楼梯功能的智能车是机器人领域研究的一个重要话题。