Title :
Research on a kind of leg-wheel stair-climbing wheelchair
Author :
Hongbo Wang ; Li He ; Qi Li ; When Zhang ; Dong Zhang ; Peng Xu
Author_Institution :
Parallel Robot & Mechatron. Syst. Lab. of Hebei Province, Yanshan Univ., Qinhuangdao, China
Abstract :
A kind of leg-wheel stair-climbing wheelchair is proposed. The device adopts a leg-wheel composite structure. Both leg type and wheel type can achieve the function of climbing stairs independently, but together they complement each other nicely to strengthen the performance. Stair climbing is completed by coordinating the movement of the legs and the mobile system. There are two control schemes proposed in the control system. Two different kinds of motors, including DC servo motors and DC motors, are controlled. The device has simple operation and good performance which can realize the free conversion from ground model to stair model.
Keywords :
DC motors; machine control; medical control systems; mobile robots; motion control; servomotors; wheelchairs; wheels; DC servo motors; climbing stairs function; control schemes; control system; ground model; leg movement coordination; leg type; leg-wheel composite structure; leg-wheel stair-climbing wheelchair; mobile system; stair model; wheel type; Automation; Conferences; Mechatronics; Leg-Wheel; Stair-Climbing; Wheelchair;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6886028
