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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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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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creator	Cho, Youngsu Kim, Kwang Joon Park, Jongwoo Seo, Hyunuk Jung, Hyunmok Kim, Byungin Park, Dong-Il Ahn, Jeongdo Park, Chanhun
description	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.
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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 (<inline-formula> <tex-math notation="LaTeX">W </tex-math></inline-formula>) x 800(<inline-formula> <tex-math notation="LaTeX">D </tex-math></inline-formula>) x 1,000(<inline-formula> <tex-math notation="LaTeX">H </tex-math></inline-formula>) <inline-formula> <tex-math notation="LaTeX">mm^{3} </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">120 kg </tex-math></inline-formula>. The experimental verification proved that the electric wheelchair can stably go up and down the stairs under extreme conditions (stair width = <inline-formula> <tex-math notation="LaTeX">300 mm </tex-math></inline-formula>, stair height = <inline-formula> <tex-math notation="LaTeX">180 mm </tex-math></inline-formula>) at a speed of 10 steps/min.]]></description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2024.3371017</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>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</subject><ispartof>IEEE access, 2024, Vol.12, p.31853-31861</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c359t-b46a61395819f4af6ff763d33bad964234e07840d3ba1582d9a7df235b9bcd183</cites><orcidid>0000-0003-1372-2718 ; 0000-0002-7197-0069 ; 0000-0003-2042-4225 ; 0000-0002-9010-166X ; 0000-0003-3155-5730 ; 0000-0003-4101-7485 ; 0000-0002-7880-2244 ; 0000-0003-4560-6340</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/10452361$$EHTML$$P50$$Gieee$$Hfree_for_read</linktohtml><link.rule.ids>314,777,781,4010,27614,27904,27905,27906,54914</link.rule.ids></links><search><creatorcontrib>Cho, Youngsu</creatorcontrib><creatorcontrib>Kim, Kwang Joon</creatorcontrib><creatorcontrib>Park, Jongwoo</creatorcontrib><creatorcontrib>Seo, Hyunuk</creatorcontrib><creatorcontrib>Jung, Hyunmok</creatorcontrib><creatorcontrib>Kim, Byungin</creatorcontrib><creatorcontrib>Park, Dong-Il</creatorcontrib><creatorcontrib>Ahn, Jeongdo</creatorcontrib><creatorcontrib>Park, Chanhun</creatorcontrib><title>Design of Stair-Climbing Electric Wheelchair With Tri-Spoke Wheel and Supporting Leg</title><title>IEEE access</title><addtitle>Access</addtitle><description><![CDATA[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 (<inline-formula> <tex-math notation="LaTeX">W </tex-math></inline-formula>) x 800(<inline-formula> <tex-math notation="LaTeX">D </tex-math></inline-formula>) x 1,000(<inline-formula> <tex-math notation="LaTeX">H </tex-math></inline-formula>) <inline-formula> <tex-math notation="LaTeX">mm^{3} </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">120 kg </tex-math></inline-formula>. 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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 (<inline-formula> <tex-math notation="LaTeX">W </tex-math></inline-formula>) x 800(<inline-formula> <tex-math notation="LaTeX">D </tex-math></inline-formula>) x 1,000(<inline-formula> <tex-math notation="LaTeX">H </tex-math></inline-formula>) <inline-formula> <tex-math notation="LaTeX">mm^{3} </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">120 kg </tex-math></inline-formula>. The experimental verification proved that the electric wheelchair can stably go up and down the stairs under extreme conditions (stair width = <inline-formula> <tex-math notation="LaTeX">300 mm </tex-math></inline-formula>, stair height = <inline-formula> <tex-math notation="LaTeX">180 mm </tex-math></inline-formula>) at a speed of 10 steps/min.]]></abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/ACCESS.2024.3371017</doi><tpages>9</tpages><orcidid>https://orcid.org/0000-0003-1372-2718</orcidid><orcidid>https://orcid.org/0000-0002-7197-0069</orcidid><orcidid>https://orcid.org/0000-0003-2042-4225</orcidid><orcidid>https://orcid.org/0000-0002-9010-166X</orcidid><orcidid>https://orcid.org/0000-0003-3155-5730</orcidid><orcidid>https://orcid.org/0000-0003-4101-7485</orcidid><orcidid>https://orcid.org/0000-0002-7880-2244</orcidid><orcidid>https://orcid.org/0000-0003-4560-6340</orcidid><oa>free_for_read</oa></addata></record>
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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
title	Design of Stair-Climbing Electric Wheelchair With Tri-Spoke Wheel and Supporting Leg
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