Wheelchair Stabilization and Control System

Existing ways to ensure accessibility of megalopolis infrastructure facilities for people with disabilities can be divided into two groups: adaptation of infrastructure or increasing the mobility of people with disabilities. Increased mobility is associated with the development of fundamentally new vehicles that maximize the capabilities of people with disabilities. The purpose of the study was to develop a prototype of the stabilization module of a mechatronic wheelchair. As a result of the work, a kinematic scheme was proposed and a stabilization module with a balancing system based on a spring battery with a sinus moment characteristic was designed. Details of the module layout are designed taking into account the analysis by the finite element method and are manufactured according to the additive technological process of material extrusion. A structural-functional diagram has been developed for the case of using four stabilization modules.