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Enhanced development and stability analysis of a new stair-climbing robotic wheelchair

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2 Author(s)
Chun-Ta Chen ; Dept. of Mech. & Autom. Eng., Da-Yeh Univ., Taipei ; Hoang-Vuong Pham

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.

Published in:

Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on

Date of Conference:

23-25 Aug. 2008