NDLI: A Wheelchair Robot Design with Wheel-Track Coupling Mechanism and Motion Analysis

Content Provider	IEEE Xplore Digital Library
Author	Yang Bai Xueshan Gao Dongxiao Wang Ling Li Yitong Ma Weijie Bo Jingyi Li
Copyright Year	2015
Description	Author affiliation: Intell. Robot. Inst., Beijing Insitutute of Technol., Beijing, China (Yang Bai; Xueshan Gao; Dongxiao Wang; Ling Li; Yitong Ma; Weijie Bo; Jingyi Li)
Abstract	Combining the advantages of wheeled mobile robot and tracked mobile robot, a barrier-free wheelchair robot with wheel-track coupling mechanism is presented to solve the problem of common wheelchair limitations in obstacle surmounting. Firstly, wheel-track coupling mechanism of the wheelchair mobile platform with lesser space is mainly designed, and motion of this mechanism is analyzed based on rigid-body guidance and analytic geometry synthesis method. For the deformable structure, a new scale-style elastic segment track is developed, and then its motion modes, meshing method, and bionic characteristics are analyzed. At last, simulations and experiments of performance of transformation mechanism and wheelchair robot motion are carried out, and the results show that the designed mechanism is reasonable.
Sponsorship	Tongji Univ.
Starting Page	591
Ending Page	595
File Size	2929195
Page Count	5
File Format	PDF
e-ISBN	9781467368506
DOI	10.1109/ICISCE.2015.137
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-04-24
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Information science Wheelchair robot Control engineering Wheel-track coupling mechanism Scale-style elastic segment track Obstacle surmounting
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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