Novel design of stair climbing wheelchair

Behera, Pravat Kumar; Gupta, Ankur

doi:10.1007/s12206-018-0938-6

Cited by 20 publications

(7 citation statements)

References 1 publication

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“…The height can be adjusted to the product and there are two chambers for product housing [25]. (Behera & Gupta, 2018) designed a stair climbing assisting wheelchair with two degrees of freedom legs containing four-bar parallel linkage and each leg is fitted with actuators [26]. (Paška, Z., Fojtík, F., & Ferfecki, P. 2016) used photoelasticity methodology to find out the components of stress tensor in-plane specimens with the help of an algorithm in MATLAB program [27].…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Finite Element Analysis of an Eight Wheel Stair Climbing Cart

Hasan

Rashid

2019

Strojnícky Časopis - Journal of Mechanical Engineering

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Most of the people living in developing or less developed countries have limited earning to provide somehow their basic needs and usual staff. Carrying goods is a regular task in life and several products have been invented to minimize efforts in this purpose. However, the price and features of most available products are out of the reach for the people of limited earnings. Stair climbing cart is very useful for those houses where a lift is not available. In this research, a modified mechanical design with eight wheels providing pause-rest feature has been represented with the equations of pulling force, constraints of stair dimensions and climbing mechanism. The ‘House of Quality Diagram ‘(QFD)’ has been added to accomplish the vision of further market research and customer satisfaction. The factor of safety and different types of stress have been determined for different types of loads and conditions. In addition, the details of the material with dimension, design and feasibility analysis have led this research to uniqueness.

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Section: Literature Reviewmentioning

confidence: 99%

Design and Finite Element Analysis of an Eight Wheel Stair Climbing Cart

Hasan

Rashid

2019

Strojnícky Časopis - Journal of Mechanical Engineering

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“…Maintaining a stable base while a rover drives over rough terrain is an underlying requirement in many real-world applications [1][2][3][4], such as payload delivery and disaster rescue to avoid payload damage. However, the rover can easily lose stability, since it does not have an active stabilization system to compensate for disturbances from rough terrain [5].…”

Section: Introductionmentioning

confidence: 99%

Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

et al. 2023

Machines

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Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude control) AC-based controller to stabilize the base on rough terrain. The AVIC-based controller aims to track the desired trajectory of the robot base while suppressing lumped disturbance, including system uncertainties in the internal dynamics and unknown external disturbance. The THV-based controller is utilized as a feedforward controller to improve posture tracking performance in order to achieve a horizontal posture. The AC-based controller is employed to maintain the horizontal posture of the base. The effectiveness and robustness of the proposed controllers are validated by a series of numerical trials, and the results are evaluated.

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“…The common content of biped robot design is the balance at zero moment point in control. Sometimes it also can enhance the stability of one foot support in structure, such as the design of two legs with two degrees of freedom to maintain stability (Behera & Gupta, 2018). Wheeled robot is a common robot type because of its flexible and smooth motion ability on the flat ground.…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

Liu

Zhang

et al. 2022

Journal of Field Robotics

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This paper proposes the mechanical design and wheel-leg-body cooperation control of a robot capable of climbing stairs for the RoboMaster competition. The robot is comprised of a robot body and four legs with wheels on each end. The front and hind legs composed of the linkages and sliders complete the climbing stairs motion under the coordination of the motors and the cylinders. The dynamic stair-climbing motion is realized by control the wheel speed and leg motion corresponding to the body motion of the robot relative to the stair environment. Compared with the common split stair climbing designed, the robot can dynamically climb the stairs without losing the forward speed, which makes climbing stairs more smoothly while retaining the ability to move on the flat. Experimental results demonstrate that the robot can climb stairs with a riser height up to 20 cm and a tread depth more than 80 cm. And the process of climbing each stair is reduced to 1-2 s.

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Novel design of stair climbing wheelchair

Cited by 20 publications

References 1 publication

Design and Finite Element Analysis of an Eight Wheel Stair Climbing Cart

Design and Finite Element Analysis of an Eight Wheel Stair Climbing Cart

Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

Mechanical design and wheel–leg–body cooperation control of a step‐climbing robot

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