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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2013> 22(3): 301-307
LI Jing-yi, BAI Yang, JIN Fei, WANG Dong-xiao, GAO Xue-shan. Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2013, 22(3): 301-307.
Citation: LI Jing-yi, BAI Yang, JIN Fei, WANG Dong-xiao, GAO Xue-shan. Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2013, 22(3): 301-307.
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Mechanics analysis of a wheelchair robot with wheel-track coupling mechanism

  • 1.

    Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, China

  • 2.

    Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, China;State Key Laboratory of Robotics and System (HIT), Harbin 150080, China

  • Received Date:2012-05-11
    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.
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