【摘要】 为应对老龄化社会对无障碍设备的迫切需求，设计了一种低成本、高安全性的履带-轮式爬楼机。通过模块化混合结构设计与智能控制系统的集成，实现了传统轮椅的爬楼功能升级。基于S型加减速算法优化运动控制策略，结合多传感器融合技术提升动态稳定性。仿真与样机试验表明：样机在30°坡度下爬楼速度为0.15 m/s,单台阶耗时3 s,能耗为0.05 kWh/10级台阶，满电可完成50次爬楼任务。更多还原

【Abstract】 In response to the demand for barrier-free equipment in an aging society, this paper designs a low-cost and highly safe track-wheel stair-climbing machine. By integrating a modular hybrid structure and an intelligent control system, it upgrades the stair-climbing function of traditional wheelchairs. An S-shaped acceleration and deceleration algorithm is adopted to optimize motion control. The stability and reliability of the system are verified through simulation and prototype tests. The tests show that the prototype can achieve a climbing speed of 0.15 m/s on a 30° slope, taking 3 s per step, with an energy consumption of 0.05 kWh per 10 steps.更多还原