Design modification to wheel chair that it can climb steps
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Standard Electric Powered Wheelchairs (EPWs) have been unable to overcome architectural barriers such as curbs and steep roads. In the past 20 years many models of EPWs have been designed to climb curbs; however, these models are often larger than standard EPWs that might not meet the user’s needs and not pass the ISO/RESNA standard wheelchair tests. The goal of this project was to develop a novel electric powered wheelchair, called PerMMA2, with the ability to climb steps and drive over challenging surfaces such as cross slopes, and steep hills. Thus, the design of PerMMA2 was developed while taking in consideration the ISO/RESNA standard - for the current EPWs. This paper focuses on the mechanical design of PerMMA2 and a description of one of its applications: step climbing. A kinetics and kinematic model based step climbing sequence was simulated with Open Dynamic Engine software. Simulation results showed that the current design of PerMMA2 could successfully climb up to 20.32 cm curb high. Future work will focus on exploring more tasks with PerMMA2 like lateral pressure relief and maintaining a level seat under uneven surfaces and cross slopes.
1: Wheel's Degree of freedom
Wheels
# of Wheels
Degree of Freedom (Distance)
Driving Wheels
2
Vertical Axis (10.16 cm)
Rotation
Horizontal Axis (20.32 cm)
Rear Casters
2
Vertical Axis (10.16 cm)
Spinning Rotation
Swivel Rotation
Front Casters
2
Vertical Axis (20.32 cm)
Spinning Rotation
Swivel Rotation