Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair
An omni-directional mobile stair climbing wheelchair is designed to help the persons with lower limb disabilities climb the stairs.The function of climbing stair of the wheelchair is realized by using mechanical support legs and wheels bearing the wheelchair alternately.Four Mecanum wheels are taken...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.04.016 |
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| author | Zhou Qiuyu Xing Xiaodong |
| author_facet | Zhou Qiuyu Xing Xiaodong |
| author_sort | Zhou Qiuyu |
| collection | DOAJ |
| description | An omni-directional mobile stair climbing wheelchair is designed to help the persons with lower limb disabilities climb the stairs.The function of climbing stair of the wheelchair is realized by using mechanical support legs and wheels bearing the wheelchair alternately.Four Mecanum wheels are taken as the wheelchair wheels and driven by four electrical motors.The capability of obstacle crossing with the limited width of stairs and the kinematical and dynamics math model are analyzed.The anteroposterior and lateral stability of the wheelchair are analyzed with combining energy method and stability reserve analysis method.The characteristics of omni-directional movement of the wheelchair are also studied.The result shows that the wheelchair can climb most stairs safely and wouldn’t turn over.The omni- directional movement can be achieved by controlling the speed of four wheels.The structural design of the wheelchair is reasonable.And the combination of the stair- climbing function and the omni- directional mobile function is realized successfully. |
| format | Article |
| id | doaj-art-dd66cac6570348d89b0aef2b7f82cc5f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-dd66cac6570348d89b0aef2b7f82cc5f2025-01-10T14:18:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140748029923269Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing WheelchairZhou QiuyuXing XiaodongAn omni-directional mobile stair climbing wheelchair is designed to help the persons with lower limb disabilities climb the stairs.The function of climbing stair of the wheelchair is realized by using mechanical support legs and wheels bearing the wheelchair alternately.Four Mecanum wheels are taken as the wheelchair wheels and driven by four electrical motors.The capability of obstacle crossing with the limited width of stairs and the kinematical and dynamics math model are analyzed.The anteroposterior and lateral stability of the wheelchair are analyzed with combining energy method and stability reserve analysis method.The characteristics of omni-directional movement of the wheelchair are also studied.The result shows that the wheelchair can climb most stairs safely and wouldn’t turn over.The omni- directional movement can be achieved by controlling the speed of four wheels.The structural design of the wheelchair is reasonable.And the combination of the stair- climbing function and the omni- directional mobile function is realized successfully.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.04.016Omni-directional mobileStair climbing wheelchairObstacle crossing capabilityStability |
| spellingShingle | Zhou Qiuyu Xing Xiaodong Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair Jixie chuandong Omni-directional mobile Stair climbing wheelchair Obstacle crossing capability Stability |
| title | Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair |
| title_full | Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair |
| title_fullStr | Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair |
| title_full_unstemmed | Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair |
| title_short | Structural Design and Analysis of an Omni-Directional Mosbile Stair Climbing Wheelchair |
| title_sort | structural design and analysis of an omni directional mosbile stair climbing wheelchair |
| topic | Omni-directional mobile Stair climbing wheelchair Obstacle crossing capability Stability |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.04.016 |
| work_keys_str_mv | AT zhouqiuyu structuraldesignandanalysisofanomnidirectionalmosbilestairclimbingwheelchair AT xingxiaodong structuraldesignandanalysisofanomnidirectionalmosbilestairclimbingwheelchair |