Kinematic analysis of an electric stair-climbing wheelchair

<p>This paper presents the functional design and the kinematic synthesis of the last version of an electric stair-climbing wheelchair. The proposed device represents the latest evolution of the ‘Wheelchair.q’ project and introduces several improvements over previous designs. This updated solution has greater stability during stair-climbing operation and satisfy the safety requirements introduced by ISO 7176-28:2012, “Requirements and test methods for stair-climbing devices”. The main improvement presented, concerns the regularity of the user trajectory during stair-climbing, which ensures a more comfortable perception. This result has been achieved through the introduction of a cam mechanism between the frame connected to the locomotion unit and the seat frame, which properly manages the seat orientation. With an appropriate cam profile it is possible to compensate the oscillations introduced on the wheelchair during the climbing sequence and allow the user to obtain a translational trajectory. The proposed design and its working principle are firstly described and illustrated through schematic and graphic representations. A brief explanation of the procedure for obtaining the cam profile is also given. Two different architectures for the cam mechanism are then compared and the advantages and disadvantages for each solution are identified. Finally, the kinematic wheelchair performances are tested through a simulation obtained in the MSC-ADAMS multibody environment.</p>