Design of Stair-Climbing Electric Wheelchair With Tri-Spoke Wheel and Supporting Leg

Stair climbing is necessary to improve the convenience of electric wheelchairs. An important issue in developing a climbable wheelchair is stability and speed during climbing. In this work, tri-wheel and supporting leg were adopted in the stair climbing method for high speed and stable posture. Base...

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Bibliographic Details
Published in:IEEE access 2024, Vol.12, p.31853-31861
Main Authors: Cho, Youngsu, Kim, Kwang Joon, Park, Jongwoo, Seo, Hyunuk, Jung, Hyunmok, Kim, Byungin, Park, Dong-Il, Ahn, Jeongdo, Park, Chanhun
Format: Article
Language:English
Subjects:
Assistive technologies
Climbing
Climbing robots
Clusters
Design engineering
Design parameters
Electric vehicles
Electric wheelchair
Formulas (mathematics)
Gears
Legged locomotion
Mathematical analysis
Motion stability
stable climbing
stair-climbing
Stairs
Stairways
supporting leg
Tracking
Trajectory
tri-spoke
wheel cluster
Wheelchairs
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Summary:Stair climbing is necessary to improve the convenience of electric wheelchairs. An important issue in developing a climbable wheelchair is stability and speed during climbing. In this work, tri-wheel and supporting leg were adopted in the stair climbing method for high speed and stable posture. Based on the mechanical and static analyses of the climbing mechanism, the design method of the wheel cluster system was expressed as equations. These equations were proposed considering the design parameters that ensure the continuity and stability of the climbing motion. Moreover, the collision information between the stairs and the cluster system during the climbing motion was included in those equations. A validation test of the stair climbing mechanism was performed by manufacturing a prototype of 750 ( W ) x 800( D ) x 1,000( H ) mm^{3} and 120 kg . The experimental verification proved that the electric wheelchair can stably go up and down the stairs under extreme conditions (stair width = 300 mm , stair height = 180 mm ) at a speed of 10 steps/min.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2024.3371017