Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism

Jing Yi Li, Yang Bai, Fei Jin, Dong Xiao Wang, Xue Shan Gao*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)

Abstract

A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presented in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel-track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.

Original languageEnglish
Pages (from-to)301-307
Number of pages7
JournalJournal of Beijing Institute of Technology (English Edition)
Volume22
Issue number3
Publication statusPublished - Sept 2013

Keywords

  • Centroid projection method
  • Dynamic analysis
  • Stability margin
  • Wheel/track coupling mechanism
  • Wheelchair robot

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