由於目前台灣社會具有無障礙空間的建築物仍然相當有限，而具有升降機構的輪椅種類稀少且價格偏高，因此本研究之目的為研發出輔助輪椅上下台階的機構，使得輪椅使用者能自行克服障礙。為使輪椅具有升降功能，本研究是依照利用新發明的輔助升降機構加裝在輪椅上，讓使用者可自行上下台階。主要考量為能達成上下台階之功能性，其他須考慮的因素還包括機構之最簡化、低動力消耗、控制之簡易性及使用者安全性。
本研究利用重心最穩定的路線來完成上下台階的作動概念，共研究四種機構來搭配所提倡之作動方式。改良後之上升機構主要是由螺桿、滑塊和連桿所組成的側面交叉連桿機構，並運用離合器搭配鍵、齒輪和鍊條來控制上升機構的作動。本研究先導的進度為分析現今專利或論文中已提出可上下台階輪椅之概念或機構。接著利用Pro/E進行機構設計與作動之電腦建模，並從中得知新機構可行性及缺失。設計出改良後之機構後，進行力學分析，並用Abaqus驗證分析結果，進而選擇材料最輕化之目標，並證明此機構之可行性。

As number of buildings with obstacle-free space in Taiwan is still limited, and the wheelchairs with elevating and lowering mechanism are very rare and prices are at the high side, the purpose of this research is for developing a mechanism that assists the up and down stairway of wheelchairs, so that the users can overcome the obstacles of steps. In order to allow wheelchair possessed elevation and lower functions, in this research the newly invented elevation / lowering assisting mechanism to wheelchair is added to enable wheelchairs user to go up or down of steps. The main consideration is focused on the up and down functions and other factors concerned are the simple mechanical structure, low power consumption ,easy in control and safety.
In this research, we use the most gravity-stable route for the motions of going up and down steps. There are total 4 mechanisms developed. The improved elevation and lowering mechanism are mainly comprised of ball screw, slide block and connecting rod, a side crossed connecting rod mechanism, a clutch matched with chain and gear and keys to control the elevating and lowering motion. In this research, the lead progress is analyzing the concept of mechanism in existing patents or papers. Then, Pro/E is applied to perform mechanical design and computer modes of motions, and find the feasibility and discrepancy of the new mechanism. This designed and improved mechanism is then performed with dynamical analysis and Abaqus is used to verify the results of analysis. It is then going into the aim of lightening the material and proves the feasibility of the mechanism.

中文摘要…………………………………………………………………i
目錄………………………………………………………………………ii
圖目錄……………………………………………………………………iv
表目錄……………………………………………………………………vi
第一章 緒論
1.1 研究背景………………………………………………………1
1.2 研究目標………………………………………………………3
第二章 可爬階輪椅專利分析
2.1 輪椅輔助上下台階之機構……………………………………4
2.1.1 T型輔助輪椅機構………………………………4
2.1.2 連桿輔助輪椅機構………………………………5
2.1.3 爬坡輪椅機構……………………………………5
2.1.4 跨越障礙輪椅機構………………………………6
2.2 輪椅獨立上下台階之系統……………………………………7
2.2.1 腿型爬階輪椅……………………………………7
2.2.2 八輪爬階輪椅……………………………………8
2.2.3 多輪爬階輪椅……………………………………9
2.2.4 iBOT輪椅…………………………………………9
第三章 創新爬階輪椅機構設計
3.1 環境限制條件…………………………………………………12
3.2 爬階動作分析…………………………………………………15
3.2.1 實現爬階動作之機構……………………………16
3.2.2 動作順序之控制迴路……………………………17
3.3 基礎爬階模型…………………………………………………25
3.3.1 爬升模擬…………………………………………28
3.3.2 範圍限制…………………………………………29
3.3.3 氣壓缸作動及位移分析…………………………30
第四章 基礎機構之改良與分析
4.1 可能機構之探討………………………………………………35
4.1.1 內縮式連桿機構…………………………………37
4.1.2 正面交叉連桿機構………………………………40
4.2 改良後之機構與力學分析……………………………………43
4.2.1 機構作動控制原理………………………………44
4.2.2 連桿之力學分析…………………………………51
第五章 結論與未來展望
5.1 結論……………………………………………………………78
5.2 未來展望………………………………………………………79
參考文獻…………………………………………………………………80

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