Design and Realization of the Control System Platform Towards Wheelchair Climbing-Stairs

The wheelchair climbing-stairs is a complex mehatronics system, which includes the front leg mechanism, rear leg mechanism, seat mechanism, and so on. Each has an independent CPU to control itself motion. Their coordination can implement the climbing-stair act for the wheelchair climbing robot. Firstly, the paper presents the control system platform for the wheelchair robot, and introduces its functions and requirements. Secondly, describes the process of each component work, such as, the front leg mechanism, rear leg mechanism, and seat mechanism. And designs a control system platform to implement their act based on VC++6.0 software. Finally, the serial communication protocol is given to describe the data exchange process of the upper and lower CPUs towards wheelchair climbing-stairs.