| 一种具有全方向运动功能的电动轮椅的设计 |
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| 引用本文： | 袁世奇,宫兴祯,唐宗军.一种具有全方向运动功能的电动轮椅的设计[J].沈阳工业大学学报,2004,26(6):612-615. |
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| 作者姓名： | 袁世奇 宫兴祯 唐宗军 |
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| 作者单位： | 沈阳工业大学,机械工程学院,辽宁,沈阳,110023 |
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| 摘 要： | 对全方向电动轮椅的结构、运动学性能进行了分析，提出了一种可行的总体运动控制方案，并对轮椅的直线运动、全方向运动以及初始化运动的环节给出了控制模型，同时对直线运动速度补偿系统、角位置系统进行了仿真，其结果证明了该控制策略的可行性．
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| 关 键 词： | 全方向运动 轮椅 伺服系统 速度补偿 差动 |
| 文章编号： | 1000-1646(2004)06-0612-04 |
| 修稿时间： | 2004年7月7日 |
Design of a kind of motor-wheelchair with omnidirection motion function |
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| YUAN Shi-qi,GONG Xing-zhen,TANG Zong-jun.Design of a kind of motor-wheelchair with omnidirection motion function[J].Journal of Shenyang University of Technology,2004,26(6):612-615. |
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| Authors: | YUAN Shi-qi GONG Xing-zhen TANG Zong-jun |
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| Abstract: | The paper presents a kind of novel moto-wheelchair with omnidirection motion function.Constructions and kinematics of the wheelchair motion are analyzed. A available maneuver is proposed in the whole control system. For the line motion compensation control,omnidirection angle control and initialization of motion,which are basic form,are developed.Synchronously the emulation equations for the line motion compensation system and omnidirection angle control system are designed,built,and tested.The simulation results are feasible. |
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| Keywords: | omnidirection move wheelchair servo system speed compensation differential |
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