Author/Authors :
Javadi, Mehrdad Mechatronics Eng. Dept. - Islamic Azad University - South Tehran Branch, Tehran, Iran , Afzalpour, Narges Mechatronics Eng. Dept. - Islamic Azad University - South Tehran Branch, Tehran, Iran , Jafari, Peymaan Mechatronics Eng. Dept. - Islamic Azad University - South Tehran Branch, Tehran, Iran , KhorsandiJou, Mahdi Mechatronics Eng. Dept. - Islamic Azad University - South Tehran Branch, Tehran, Iran
Abstract :
A spatial parallel mechanism namely 3-RRS mechanism has
been assigned to be attached to the seat of a standard
electric wheelchair to prevent the turning over of the
handicapped sitting on the wheelchair. The system of the
wheelchair and the mechanism is a self-balancing robotic
wheelchair and has coped with several road conditions. A
stability control system calculates the proper moments on
the basis of the height of the mass centre and the angle of
the wheelchair. The control parameters have obtained and
the revolute motors have been actuated by the control
torques. Based on the simulation results of the system in
MatLab, two types of stabilized wheelchairs, one of which
has shown good results on several road conditions, have
been built and tested.
Keywords :
Turn-over prevention , Wheelchair stability control , Spatial 3-RRS robot , Parallel robot
