TY - GEN
T1 - Enhanced development and stability analysis of a new stair-climbing robotic wheelchair
AU - Chen, Chun Ta
AU - Pham, Hoang Vuong
PY - 2008
Y1 - 2008
N2 - This paper reports an enhanced mechanical design and stability analysis of a new stair-climbing robotic wheelchair for the disable and elderly. The mechanism is based on a pair of rotational multi-limbed structures pivotally mounted on the opposite sides of the base. The corresponding short arm, long arm and support triangle comprising each rotational multi-limbed structure are actuated to rotate through epicyclic gear trains so that the robotic wheelchair can ascend and descend stairs in a statically stable way. Experimental results with carrying a person validate the feasibility of the proposed mechanism design and show the simplification of the associated operation process.
AB - This paper reports an enhanced mechanical design and stability analysis of a new stair-climbing robotic wheelchair for the disable and elderly. The mechanism is based on a pair of rotational multi-limbed structures pivotally mounted on the opposite sides of the base. The corresponding short arm, long arm and support triangle comprising each rotational multi-limbed structure are actuated to rotate through epicyclic gear trains so that the robotic wheelchair can ascend and descend stairs in a statically stable way. Experimental results with carrying a person validate the feasibility of the proposed mechanism design and show the simplification of the associated operation process.
UR - http://www.scopus.com/inward/record.url?scp=84869978285&partnerID=8YFLogxK
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U2 - 10.1109/ARSO.2008.4653582
DO - 10.1109/ARSO.2008.4653582
M3 - Conference contribution
AN - SCOPUS:84869978285
SN - 9781424426751
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
BT - IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
T2 - IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2008
Y2 - 23 August 2008 through 25 August 2008
ER -