The Designed of Four-Wheeled Person Carrier Robot System

In this paper, we propose a test platform for a person carrier robot to measure the impacts and position changes of users on various types of terrain changes when boarding a robot. A robot is developed using a passenger wheelchair and a motor drive system, and Bluetooth is installed in a PC and a MCU (microcontroller unit) to enable movement commands to be transmitted and received. Also, the motor drive system used in this paper is driven by receiving analog signals. However, the MCU that receives the movement command from the PC does not operate because it sends a PWM (Pulse Width Modulation) signal, which is a digital signal, to the motor drive system. Therefore, the PWM signal output from the MCU is converted into an analog signal through the RC filter. These signals are transmitted to the motor driver, enabling the motor to be driven. The simulation and experiment conduct based on the completed person carrier robot.