Design and fabrication of a statically stable stair-climbing robotic wheelchair

摘要

Purpose - The purpose of this paper is to present the mechanical design and stability analysis of a new stair-climbing robotic wheelchair. Design/methodology/approach - A prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base. The short arm, long arm, and triangular support structures within each rotational multi-limbed structure rotate under the actuating effects of epicyclical gear trains. Findings - The robotic wheelchair ascends and descends stairs in a statically stable manner and has an efficient planar navigation capability. Research limitations/implications - In its current state of development, the robotic wheelchair is controlled and powered remotely via umbilical cords rather than an onboard processor and power supply. Practical implications - The robotic wheelchair provides an effective solution for enhancing the mobility of the elderly and disabled. Originality/value - The rotational multi-limbed mechanisms are developed to ensure the stability of the sitting base at all stages of the stair navigation maneuver without the need for additional servo-mechanism. The proposed robotic wheelchair shows the simplification of the associated operation process.