Design and Motion Analysis of a Powered Wheelchair

Abstract

This paper presents researches developed by authors to design a motorized robotic wheelchair for disabled people. These devices enable disabled people perform many activities of daily living thus improving their quality of life. Proposed solution uses for traction one DC motor with steps adjustable angular speed, and for steering one smaller motor. It is presented the kinematic scheme of the proposed transmission and kinematic analysis. It is developed a CAD model of the transmission, mounted on a wheelchair. They are made simulation in Adams, in order to verify the functionality of the proposed transmission. The obtained results validate proposed transmission model and enable success implementation of this transmission to a wheelchair experimental model.