Dynamic and tip-over stability analysis of a planetary wheeled stair-climbing wheelchair

In this paper, the design of the mechanism and the control system of a planetary wheeled stair-climbing wheelchair is introduced. The dynamic model of the planetary wheel clusters is established based on Lagrange equation, and the angle acceleration curves are studied with various given equivalent torques. Stability margin of the wheelchair is analyzed in detail during a single step climbing procedure. According to the simulation results, the control law of wheelchair's angle is derived from the projection of the wheelchair's CG on the condition that the wheelchair's stability is always maintained. The wheelchair can be easily operated by an assistant accordance with the control law.

[1]  Vijay R. Kumar,et al.  Design of a wheelchair with legs for people with motor disabilities , 1995 .

[2]  Zhong Wang,et al.  Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot , 2010, 2010 IEEE International Conference on Mechatronics and Automation.

[3]  Giuseppe Quaglia,et al.  Wheelchair.q, a mechanical concept for a stair climbing wheelchair , 2009, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[4]  Jianjun Yuan.  Stability analyses of wheelchair robot based on “Human-in-the-Loop” control theory , 2009, 2008 IEEE International Conference on Robotics and Biomimetics.

[5]  M. Arisawa,et al.  The Functional Evaluation of Future Wheelchairs Contributing to Ecological Aid in Traveling , 2005, 2005 4th International Symposium on Environmentally Conscious Design and Inverse Manufacturing.

[6]  Vicente Feliú Batlle,et al.  Coordinated motion of a new staircase climbing wheelchair with increased passenger comfort , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[7]  Jean-Christophe Fauroux,et al.  A New Principle for Climbing Wheeled Robots: Serpentine Climbing with the Open WHEEL Platform , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.