Design and fabrication of a statically stable stair-climbing robotic wheelchair

Chun Ta Chen*, Hoang Vuong Pham


研究成果: 雜誌貢獻期刊論文同行評審

18 引文 斯高帕斯(Scopus)


Purpose - The purpose of this paper is to present the mechanical design and stability analysis of a new stair-climbing robotic wheelchair. Design/methodology/approach - A prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base. The short arm, long arm, and triangular support structures within each rotational multi-limbed structure rotate under the actuating effects of epicyclical gear trains. Findings - The robotic wheelchair ascends and descends stairs in a statically stable manner and has an efficient planar navigation capability. Research limitations/ implications - In its current state of development, the robotic wheelchair is controlled and powered remotely via umbilical cords rather than an onboard processor and power supply. Practical implications - The robotic wheelchair provides an effective solution for enhancing the mobility of the elderly and disabled. Originality/value - The rotational multi-limbed mechanisms are developed to ensure the stability of the sitting base at all stages of the stair navigation maneuver without the need for additional servo-mechanism. The proposed robotic wheelchair shows the simplification of the associated operation process.

頁(從 - 到)562-569
期刊Industrial Robot
出版狀態已發佈 - 2009

ASJC Scopus subject areas

  • 控制與系統工程
  • 電腦科學應用
  • 工業與製造工程


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