Development of Electric Wheelchair 2nd Trial Model with Single-step Climbing Mechanism Using 4 arms structure

针对电动轮椅水平差障碍物的防护措施，采用四臂结构实现单步爬升机构，并在授权期前研制主机等。在机械部分，我们重新设计了机械臂部件，详细设计和制造了关节部件，装配了根臂部件，开发了中心轮部件，详细设计了尖臂部件、驱动轮部件和转向部件，制造了它们的部件，并进行了装配。在控制系统方面，扩展了数字I/O接口，开发了主CPU直接控制电机的驱动电路，完成了子系统和驱动轮电机驱动电路的印刷电路板制作和总体制作，建立了一对多路USB通信。由于机械部分和控制系统在开始时计划较晚，下一财年也进行了成功的攻关，我们的目标是实现试驾。

We aimed at realization of single-step climbing mechanism using 4 arms structure about the measure against a level difference barrier of an electric wheelchair.We are developing the mainframe etc. before the grant period. About the mechanical section, we re-designed arm parts, designed in detail and manufactured joint parts, assembled root arm parts, developed the central wheel part, designed in detail tip arm parts, driving wheel parts and steering parts, manufactured their parts, and assembled. About the control system, we extended digital I/O, developed the drive circuit for main CPU direct control motors, performed printed-circuit-board-izing and total manufacture of the subsystem and the driving wheel motor drive circuit, and established the one-pair many communications by USB.Since the mechanical section and the control system have been late for a plan at the beginning, the following fiscal year also tackles succeedingly and we aim at realization of test driving.