طراحي و ساخت مدل ويلچر مقاوم در برابر واژگوني با استفاده از مكانيزم 3-RRS به روش نمونه سازي سريع

Design and building of a turnover resistance wheel chair model using 3-RRS mechanism by Rapid Prototyping Method

در اين مقاله يك ويلچر با قابليت حفظ تعادل براي افراد سالمند معرفي ميشود. اين مجموعه كه شامل يك مكانيزم 3-RRS ، بعنوان محل نشستن فرد سالمند، و يك ويلچر برقي با قابليت حركت بر روي سطوح مختلف است. محل نشستن شخص بگونه اي طراحي شده كه در شرايط مختلف زمين، وضعيت افقي خود را را با استفاده از سيستم كنترلي حفظ كند. پس از طراحي، يك مدل از اين مجموعه با استفاده از پرينتر سه بعدي ساخته شده و مورد آزمايش قرار گرفته است.

A wheelchair model has been designed to resist the turning over of the user by applying a spatial 3-RRS mechanism as the Seat on a standard electric wheelchair. The result is a self-balancing robotic wheelchair with the capability to cope with several road conditions. The 3-RRS platform model has been analyzed and then controlling parameters has been reached. By using the parameters two models of the Wheelchair has been mechanically, software and hardware designed, built and tested. To design and implement Robot controller for better mutual cooperation with environment and to better analyze environmental factors on stability, it is needed to build the robot and wheelchair models with Rapid Prototyping methods and correct problems and optimize it before mass production. Two types of wheels (two wheel wheelchair and continuous track) have been inserted. The wheel chair with continuous track showed good result on several road conditions including roll, pitch and combined conditions.