Identification of the Mechanical Properties of Tires for Wheelchair Simulation

The development of high performance wheelchairs and wheelchair simulators requires dynamic models taking into account the properties of tires. In this paper the properties of two wheelchair tires are measured by means of a rotating disc testing machine and are compared with the properties of bicycle tires, which have similar dimensions and structure. Tests are carried out considering variations in speed, inflation pressure and load. The possibility of fitting experimental results with the Magic Formula, the Dugoff formula and a linear model is discussed. A dynamic model of a wheelchair is developed, which includes a linear tire model derived from experimental results. Steady turning and slalom manoeuvres are simulated. Numerical results show the effect of tire properties on the handling characteristics of the wheelchair.

[1]  T D Gillespie,et al.  Fundamentals of Vehicle Dynamics , 1992 .

[2]  Rachid Aissaoui,et al.  A new dynamic model of the manual wheelchair for straight and curvilinear propulsion , 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

[3]  Roberto Lot,et al.  Dynamic Properties of Motorcycle and Scooter Tires: Measurement and Comparison , 2003 .

[4]  Matteo Massaro,et al.  Identification of the characteristics of motorcycle and scooter tyres in the presence of large variations in inflation pressure , 2014 .

[5]  Geoff R. Fernie,et al.  CEAL - Flight Simulation Technology Applied to Rehabilitation Research , 2010 .

[6]  Barry W. Johnson,et al.  Dynamic Modeling of an Electric Wheelchair , 1985, IEEE Transactions on Industry Applications.

[7]  Hans B. Pacejka,et al.  Tire and Vehicle Dynamics , 1982 .

[8]  E W Abel,et al.  Measurement of the turning, rolling and obstacle resistance of wheelchair castor wheels. , 1989, Journal of biomedical engineering.

[9]  Minoru Kamata,et al.  Longitudinal stability control of electric wheelchairs for persons with severe disability , 2008 .

[10]  Steven Lake Waslander,et al.  Pneumatic trail based slip angle observer with Dugoff tire model , 2014, 2014 IEEE Intelligent Vehicles Symposium Proceedings.

[11]  J G Thacker,et al.  Tests of two new polyurethane foam wheelchair tires. , 1989, Journal of rehabilitation research and development.

[12]  Alberto Doria,et al.  Identification of the mechanical properties of bicycle tyres for modelling of bicycle dynamics , 2013 .

[13]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[14]  Franz Konstantin Fuss,et al.  Non-linear rolling friction of a tyre-caster system: analysis of a rugby wheelchair , 2011 .

[15]  R H Rozendal,et al.  The effect of rear wheel camber in manual wheelchair propulsion. , 1989, Journal of rehabilitation research and development.

[16]  Larry Russell Crichlow,et al.  Development of a Comprehensive Mathematical Model and Physical Interface for Manual Wheelchair Simulation , 2011 .

[17]  Rajesh Rajamani.  Lateral Vehicle Dynamics , 2012 .

[18]  Mathew Yarossi,et al.  Evaluation of wheelchair tire rolling resistance using dynamometer-based coast-down tests. , 2009, Journal of rehabilitation research and development.