Design, Synthesis & Simulation Of Four Bar Mechanism For Guiding Wheel For Climbing

摘要

In the field of providing mobility for the elderly and disabled the aspect of dealing with stairs continues largely unresolved. This paper focuses on presenting the development of a stair-climbing wheelchair mechanism with high single step capability. The mechanism is based on all four wheel clusters connected to the base (chair) via powered linkages so as to permit the forward direction, and high single step functionality. Also the big task is to calculate the dimensions of four bar mechanism as per required task,hence with the help of chebechevs equation and fraudenstein's equation ,several bunch of solution being obtained depending on function on which simulation is carried out but only one can support to required task i.e. to climb the stair of 220 mm height with respect to reference skeleton frame with respect to which final simulation being carried out