「世大智科/天才家居」-我們創業囉
Contact Professor: Yeh-Liang Hsu (徐業良)

九十八學年度元智大學機械工程研究所涂超恒碩士論文

Master thesis by Chau-Heng Tu, Mechanical Engineering Department, Yuan Ze University, 2010

98碩士論文:智慧型機器人輪椅之史都華平台座椅機構設計

本研究是元智大學老人福祉科技研究中心「智慧型機器人輪椅」開發計畫的一部份,主要目的是以史都華平台為設計概念,開發智慧型機器人輪椅之平台座椅機構及其控制系統。史都華平台是一結構剛性高、多自由度之工作平台,其致動器同時也是結構件,符合智慧型機器人輪椅座椅機構轉位輔助多自由度調整功能及結構輕量化之設計需求,在輪椅座椅調整機構設計上是一創新之構想。
本研究以智慧型機器人輪椅底座為固定版,座墊為可動板,並考量座椅機構所需之自由度,發展出四軸史都華平台座椅機構。為了能更平順、安全地操控機器人輪椅座椅機構之座墊調整動作,本研究深入分析四軸史都華平台座椅機構之工作空間,預先規劃合理、安全之移動路徑,儲存於控制程式中,並採取四軸同步控制策略,以確保無論座墊在任何位置,每次的作動過程中皆移動於平順和唯一之路徑。
本研究開發完成史都華平台座椅機構原型,並完成初步功能測試,轉位輔助座墊調整功能需求,以及調整動作之精確度,皆能符合智慧型機器人輪椅之設計需求。

The Stewart Platform Seat Mechanism Design for the Intelligent Robotic Wheelchair

This research is a part of a research project for developing an intelligent robotic wheelchair conducted by the Gerontechnology Research Center of Yuan Ze University. The purpose is to design the seat adjustment mechanism using the concept of the Stewart platform. Stewart platform is has high rigidity and multiple degree of freedom. In addition, the actuators of the Stewart platform also act as structural members. These characteristics satisfy the needs of multi-degree of freedom adjustment required in transfer assist, and lightweight of the overall structure.
Considering the degrees of freedom required by the intelligent robotic wheelchair, a four-axis Stewart platform seat adjustment mechanism is developed, using the chassis of the wheelchair as fixed plate and the seat as movable plate. The workspace of the mechanism is analyzed to predefine the reasonable and safe route for seat adjustment to ensure movement of the seat can be smooth and clear. A prototype is developed. Both functionality and accuracy of the prototype can satisfy the requirements of the intelligent robotic wheelchair.

Academic Thesis
Presentation Files
Last Updated:2010/8/26