TY - GEN
T1 - A wheelchair robot design with wheel-track coupling mechanism and motion analysis
AU - Bai, Yang
AU - Gao, Xueshan
AU - Wang, Dongxiao
AU - Li, Ling
AU - Ma, Yitong
AU - Bo, Weijie
AU - Li, Jingyi
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/9
Y1 - 2015/6/9
N2 - Combining the advantages of wheeled mobile robot and tracked mobile robot, a barrier-free wheelchair robot with wheel-track coupling mechanism is presented to solve the problem of common wheelchair limitations in obstacle surmounting. Firstly, wheel-track coupling mechanism of the wheelchair mobile platform with lesser space is mainly designed, and motion of this mechanism is analyzed based on rigid-body guidance and analytic geometry synthesis method. For the deformable structure, a new scale-style elastic segment track is developed, and then its motion modes, meshing method, and bionic characteristics are analyzed. At last, simulations and experiments of performance of transformation mechanism and wheelchair robot motion are carried out, and the results show that the designed mechanism is reasonable.
AB - Combining the advantages of wheeled mobile robot and tracked mobile robot, a barrier-free wheelchair robot with wheel-track coupling mechanism is presented to solve the problem of common wheelchair limitations in obstacle surmounting. Firstly, wheel-track coupling mechanism of the wheelchair mobile platform with lesser space is mainly designed, and motion of this mechanism is analyzed based on rigid-body guidance and analytic geometry synthesis method. For the deformable structure, a new scale-style elastic segment track is developed, and then its motion modes, meshing method, and bionic characteristics are analyzed. At last, simulations and experiments of performance of transformation mechanism and wheelchair robot motion are carried out, and the results show that the designed mechanism is reasonable.
KW - Obstacle surmounting
KW - Scale-style elastic segment track
KW - Wheel-track coupling mechanism
KW - Wheelchair robot
UR - http://www.scopus.com/inward/record.url?scp=84938800498&partnerID=8YFLogxK
U2 - 10.1109/ICISCE.2015.137
DO - 10.1109/ICISCE.2015.137
M3 - Conference contribution
AN - SCOPUS:84938800498
T3 - Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015
SP - 591
EP - 595
BT - Proceedings - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015
A2 - Li, Shaozi
A2 - Dai, Ying
A2 - Cheng, Yun
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 2nd International Conference on Information Science and Control Engineering, ICISCE 2015
Y2 - 24 April 2015 through 26 April 2015
ER -