A Cable-driven Seat Pedal Mechanism Motion Simulation for Climbing Stair Wheelchair

DONG-XING CAO, MIN-FEI LI, LI-XIANG JIA, FENG WAN

Abstract


A seat posture is tilted when the wheelchair robot climbs stairs, in which it is possible for the pedal of wheelchair to collide with the steps. In this paper, a port-based ontology model is described to obtain the outline of the pedal mechanism of wheelchair, and a cable-driven method is adopted to drive the motion of pedal mechanism of wheelchair seat to avoid the collision with the steps. Active posture of the wheelchair is changed to fit the wheelchair robot climbing stair motion on the basis of modeling the pedal mechanism. The simulation results show its validity of the model of the pedal mechanism.

Keywords


Port-based ontology, Cable driven, Pedal mechanism, Simulation, Wheelchair.Text


DOI
10.12783/dteees/epme2018/24639

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