Abstract
Abstract Due to the advancement of medical technology, the average age of human has been prolonged, which results in the coming of aging society. To solve the problem of the physically handicapped to move outdoors, the assistance device for the elderly and disabled would be designed by human. In this thesis, first, an intelligent wheelchair can be designed to accomplish two missions, one of which is to take the escalator, the other is to climb up the step stably. In Taiwan, the ascending or descending speed of escalator is around 15cm/s, which causes the design of mechanism must be mobile, so we adopt the crossing-linkage for its characteristic - “ good response at transforming speed ” to satisfy above-mentioned condition. Through virtual work principle, dynamic analysis, the specification of escalators and step, stress analysis, and the trend of market, we are able to decide the size of crossing-linkage, the assistance device for climbing step, rear tires, and Vierendeel frame truss to accomplish experimental model. Second, we use the MCU C8051F340 as the control center of entire system, which combines the motor control, signal processing of the joy stick and sensors, communication in RS232, the digital filter, and the PD controller. Finally, we not only verify the performance of stair-climbing wheelchair based on the experiments of taking the escalator and climbing one step, but also illustrate the fundamental ability of balance with the inclined angle which is transmitted by RS232 from C8051F340.