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 language | English |
|---|---|
| Pages (from-to) | 301-307 |
| Number of pages | 7 |
| Journal | Journal of Beijing Institute of Technology (English Edition) |
| Volume | 22 |
| Issue number | 3 |
| Publication status | Published - Sept 2013 |
Keywords
- Centroid projection method
- Dynamic analysis
- Stability margin
- Wheel/track coupling mechanism
- Wheelchair robot