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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lixin Fang Tao Lu Wenhao He Kui Yuan |
| Copyright Year | 2012 |
| Description | Author affiliation: Institute of Automation, Chinese Academy of Science, No.95, Zhongguancun East Road, Haidian, Beijing, 100190, China (Lixin Fang; Tao Lu; Wenhao He; Kui Yuan) |
| Abstract | 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. |
| Starting Page | 2541 |
| Ending Page | 2546 |
| File Size | 4312981 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467312752 |
| e-ISBN | 9781467312783 |
| DOI | 10.1109/ICMA.2012.6285747 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-08-05 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Wheelchairs Wheels Stability analysis Solid modeling Acceleration Mathematical model Analytical models dynamic modeling and stability margin Planetary wheel stair-climbing |
| Content Type | Text |
| Resource Type | Article |
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