Original Design of a Wheelchair Robot Equipped With Variable Geometry Single Tracked Mechanisms

Yu, Suyang; Wang, Ting; Wang, Zhidong; Wang, Yuechao; Yao, Chen; Li, Xiaofan

doi:10.2316/journal.206.2015.1.206-4197

Cited by 7 publications

(10 citation statements)

References 13 publications

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“…Scewo Bro [25] Commercial solution, automatic stairclimbing system, selfbalancing software control, high safety TopChair-S [26] Commercial solution, automatic stairclimbing system, selfbalancing software control WT Wheelchair [27,28] Prototype solution, manual stair-climbing system, no selfbalancing control system…”

Section: Name Solution Featuresmentioning

confidence: 99%

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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Stair climbing is one of the most challenging tasks for vehicles, especially when transporting people and heavy loads. Although many solutions have been proposed and demonstrated in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic review of the scientific and engineering stair climbing literature, providing brief descriptions of the mechanism and method of operation and highlighting the advantages and disadvantages of different types of climbing platform. To quantitatively evaluate the system performance, various metrics are presented that consider allowable payload, maximum climbing speed, maximum crossable slope, transport ability and their combinations. Using these metrics, it is possible to compare vehicles with different locomotion modes and properties, allowing researchers and practitioners to gain in-depth knowledge of stair-climbing vehicles and choose the best category for transporting people and heavy loads up a flight of stairs.

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Section: Name Solution Featuresmentioning

confidence: 99%

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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“…In this simulation, it is set that w 1 = 2°and w 2 and Dis_E 2 (distance between point E 2 and O 0 ) is used to describe the robot position. The Figure 12 Simulation result simulation is performed with the optimization calculating method (Yu et al, 2015) and the optimization model is established as follows.…”

Section: ))mentioning

confidence: 99%

FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism

Gao

et al. 2021

Self Cite

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Purpose The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance. Design/methodology/approach FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance. Findings From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work. Practical implications The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications. Originality/value An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.

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“…Equation (4) indicates that the vector (c x − x L , c y − y L ) and the path tangent at (c x , c y ) are orthogonal. Then we can get:…”

Section: Problem Formulation and Lateral Error Modellingmentioning

confidence: 99%

“…In [8], a simple kinematic vehicle model was used to design the lateral controller, which can track a path precisely under normal driving scenarios. In addition, there are some other lateral control methods such as proportion-integral-derivative (PID) control [4], [12], fuzzy control [13], [14], sliding-mode control [15], [16] and model predictive control [17], [18]. Similar to geometric methods, most of aforementioned methods depend on handcrafted parameters to be adaptive for various driving speeds, such as in [8], [11], [19]- [20].…”

Section: Introductionmentioning

confidence: 99%