輪椅是當今最常被使用者用來增加移動性的行動載具，但不能協助其站立及移位，站立式輪椅雖可協助使用者站立，但卻不能提供移位(transfer)功能，而一般站立架(standing frame or table)設計多數僅提供失能者站立功能，少有在移位及移動上兼備良好功能者。目前市面上並沒有輔具可同時滿足使用者在移動、協助站立及移位功能上的需求，進而增進失能者及照顧者在使用輔具上的便利性，並改善病人在日常生活上的功能與品質。
本研究目的是設計分析一利用三個主支架搭配行星齒輪及兩組DC馬達三個自由度的機械人，兼具移位、舉起和站立功能。此研究主要進行機構的結構分析及系統的穩定性模擬。其結構乃是以行星齒輪精密定位，將主支架結合來完成升降的動作及定位。本設計強調輕量化，故使用材質則以重量較輕的鋁合金為主，輔以有限元素法來分析整體升降設計結構之強度與安全係數是否達到安全要求。而人機系統的動態穩定性，依各桿件和人體肢段的質心位置，建立動態穩定性系統，分析整體人機系統總運動方向是否超過其支撐基底面。期盼達到輕量化、安全性及模組化之設計目標。

Wheelchairs are the most popularly used for mobility of the disabled. However, they do not provide standing and transfer functions. Although the power standing wheelchair helps the users stand, it does not provide transfer function. The standing frame or table is used to help the disabled stand, but usually lacks functions of transfer and mobility. The lift is designed for transfer of the patients, but it lacks the functions of mobility and standing. In the market, there is great demand to design an innovative, lightweight and intelligent robot for the disabled to provide the functions of mobility, lifting, and standing in order to improve their life quality.
This purpose of this study was to design an intelligent robot with three degrees of freedom to provide the functions of mobility, transfer and standing for the disabled with emphasis on structural and stability analyses. The fundamental mechanisms consisted of four linkages and two planetary gears driven by DC motors in order to provide positioning and movements in terms of one translation and two rotations. The aluminum alloy was chosen to construct structure of the linkage to reduce the weight. The finite element meshes were constructed to analyze the overall strength of the structure at various lifting positions with consideration of safety factor. Then, the design of lightweight structure with enough strength could be achieved by finite element analysis. In addition, a dynamic equation of motion of the whole user-machine system was developed using the center of mass of each human segments and mechanical linkages for dynamic stability. It was used to analyze and check whether the sum of external forces was directed beyond the base of support of this robot. Hopefully, the intelligent robot is lightweight, safe and effective to provide the functions of mobility, lift and standing for the disabled.

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