Abstract
This paper introduces a simple and novel mechanism for wheelchairs that assists in climbing stairs. The design mechanism consists of two 2 degrees of freedom legs. Each legs consist of two four bar linkages joined to each other in a certain manner. Each leg is fitted with two actuators which assist the chair to move the legs as required. The proposed design has statically stable leg motion with adjustable height. Inverse kinematics analysis has been performed and the position values for each leg is determined. Seating position remains horizontal on climbing ensuring the comfort of the person. This would assist in resolving the balancing issues while climbing the stairs through wheel chair.
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Recommended by Associate Editor Xiaodong Zhang
Pravat Kumar Behera is a B.Tech. final year undergraduate student in the School of Mechanical Sciences at Indian Institute of Technology Bhubaneswar, Odisha, India. His research interest lies in Robotics and Automation.
Ankur Gupta is presently a Faculty in the School of Mechanical Sciences, Indian Institute of Technology Bhubaneswar, Odisha, India. His research interest lies in Advanced Manufacturing and Nanotechnology. Prior to this, he completed his Ph.D. from IIT Kanpur. He has been recently selected for "ISEES Young Scientist Award-2017".
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Behera, P.K., Gupta, A. Novel design of stair climbing wheelchair. J Mech Sci Technol 32, 4903–4908 (2018). https://doi.org/10.1007/s12206-018-0938-6
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DOI: https://doi.org/10.1007/s12206-018-0938-6