臺灣博碩士論文加值系統

本論文之目的是希望設計並製造一種可全方位移動之電動輪椅，針對手掌功能健全而不良於行的老年人及肢體障礙族群的輪椅使用者，提供一個靈巧而可全方位移動的輪椅，其中除沿用現有手動與電動輪椅優點外，將改進創新出新穎的全方位輪椅系統，讓電動輪椅能沿各任意方位直接移動，而克服現有輪椅無須繁複的運動方式，開創電動輪椅靈活的運動能力，提供在狹窄、凌亂、動態的環境中亦可靈巧行進的輪椅系統。研究中首先將進行電動輪椅底盤機構的設計與研製、底盤馬達與驅動器之設計安裝與測試、推導全方位電動輪椅之運動學及動力學方程式並轉寫為控制程式、和機電系統與微電腦系統整合及功能測試等項目，同時亦將包含人員的實際乘座，反覆測試改進以期完成一種兼具靈巧運動又舒適順暢的輪椅系統。

This project developed a omni-directional motion wheelchair. For the senior people and handicap person, we will provide a very smoothly omni-directional motion wheel chair. It will continue to use the existing manual and electrically operated wheel chair merit, and innovate to a novel omni-directional wheelchair system. Enable the dexterous electrically operated wheelchair along each free position direct migration, but overcomes the existing wheelchair to need the complicated mode of motion. Founds the electrically operated wheelchair nimble movement ability, provides in is narrow the wheelchair system which disorderly the dynamic environment also may cleverly march forward. In of the research the first will carry on the electrically operated wheelchair chassis, organization the design and the development, design the chassis motor and install he driver, infers kinematics and dynamics equation the omni-directional electrically operated wheelchair and transcribes for the control formula, and mechanical and electrical project and so on system and microcomputer system conformity and function test. Simultaneously also will contain personnel's reality to ride the place, repeatedly tests the improvement to the time to complete one kind of concurrently clever movement comfortable smooth wheelchair system.

誌謝 i
中文摘要 ii
英文摘要 iii
目錄 iv
表目錄 vi
圖目錄 vii
第1章 緒論 1
1.1前言 1
1.2 文獻回顧 4
1.3研究目的與動機 6
1.4論文架構 8
第2章 硬體架構與設計 9
2.1 機構設計 9
2.1.1 底盤與懸浮式結構 11
2.2 運動方程式[32] 15
2.3 電路模組 17
2.3.1 豐煒VB系列PLC的主要特點[33] 21
A.系統功能齊全 21
B.通訊功能完備 21
C.週邊設備 22
D.特殊模組種類多，提供各種特殊應用 23
E.中斷輸入及高速計數器功能 23
2.3.2 PLC的優點 24
2.3.3 控制搖桿 26
2.3.4 VB-4DA 類比輸出模組[33] 28
2.3.5 VB-4AD 類比輸入模組[33] 31
2.4 電動輪椅輔助控制系統 34
2.5 輔助防撞系統的設計 35
2.6 蜂鳴器警示範圍設定[34] 36
第3章 軟體架構與設計 38
3.1 程式撰寫 38
第4章 實驗結果 44
第5章 結論與未來展望 47
5.1 結論 47
5.2 未來展望 48
5.2.1 智慧型自動充電系統的開發 48
5.2.2 自動重複路徑運行 49
參考文獻 50
附錄 54
自傳 66
論文發表 67

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