Design and Kinematic Analysis of Barrier.free Wheelchair System with aWheel-tracked Coupling Mechanism

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Design and Kinematic Analysis of Barrier.free Wheelchair System with aWheel-tracked Coupling Mechanism

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[1]WANG Dongxiao,GAO Xueshan,LIU Yunhui.Design and Kinematic Analysis of Barrier.free Wheelchair System with aWheel-tracked Coupling Mechanism[J].Journal of Zhengzhou University (Engineering Science),2012,33(04):55-59.[doi:10.3969/j.issn.1671-6833.2012.04.013]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 33 Number of periods: 2012 04 Page number: 55-59 Column: Public date: 2012-07-10

Title:: Design and Kinematic Analysis of Barrier.free Wheelchair System with aWheel-tracked Coupling Mechanism

Author(s):: WANG Dongxiao; GAO Xueshan; LIU Yunhui; 1. lntelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081 ,China;2. State Key Laboratory of Roboticsand System (HIT), Harbin 150001 ,china;3. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong,Shatin,N.T,Hong Kong SAR,China

Keywords:: barrier-free wheelchair; wheel-tracked deformable mechanism ; tip-over stability ; fuzzy cotrol; elastic crawler

CLC:: TP24

DOI:: 10.3969/j.issn.1671-6833.2012.04.013

Abstract:: The intention in the present paper is to provide a novel berried-free wheelchair with a wheel-trackeddeformable mechanism for the needs in urban obstacle environment in general. To combine the advantages ofnormal wheelchair and crawler wheelchair, for example rapidity and high over-obstacle ability, we design awheel-tracked deformable mechanism and an clastic crawler which can help the wheelchair to do the mode con-version from wheel to track quickly, Moreover, it also presents a fuzzy method for adjusting the gravity centerand controlling inclination of a stair-climbing wheelchair. To validate the proposed berried-free wheelchair, wehave carried out simulations with analysis. "he results demonstrate that the wheelchair has good environmentaladaptability and high over-obstacle ability.

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