Study on Optimization of Prospective Track Tension for Reconfigurable Stair-Negotiation Wheelchair

To solve the problem of track tension optimization of a reconfigurable wheelchair using variable-geometry-tracked mechanism while stair-negotiating, some fundamental research has been performed. The process of stair negotiation is divided into three phases, then the locomotion and transformation rules for reconfigurable wheelchair are presented. After the parameters affecting track tension have been put forward, the static models for each phase of stair negotiation are established, as well as the optimization results. The Simulation shows the variation of track tension for each phase of stair negotiation. Eventually, the minimal track tension for each phase is obtained. Simulation results provide the foundation for real-time control of track tension for reconfigurable wheelchair while stair-negotiating.