I had a ramp made for my little ones. It is great!
Of course, some people thought I was a little "over the edge" for having this built just for our "dogs" (of course, we know they aren't "just dogs") but whatever....
We have a very tall bed and so I had a custom made ramp. I tried stairs but couldn't find the right height, width, etc. that made it secure enough. So now there is no jumping at all to get on the bed..when my little girl was pregnant I didn't have to worry about her tummy dragging on steps to get on the bed!
I live in Florida. If anyone is interested, I will try to locate the guys name that built it for me. Or, if you have a handy husband or know someone handy, they could probaby make if for you. I told him how tall I needed it and gave him some left over carpet we had installed 2 years ago. It's the best investment I've made for my little babies. It is worth every penny! If you have a yorkie with knee problems, geriatric or overweight - this would certainly be less stress on its little legs.
Or, if you are like me, you just worry excessively about your little fur babies (so says my hubby:rolleyes) hehe.