Giuseppe Quaglia

Walter Franco

Matteo Nisi


Introduction: This paper presents the functional designand kinematic synthesis of a recent version of an electricstair-climbing wheelchair. Wheelchair.q: The proposeddevice represents the latest evolution of the ‘Wheelchair.q’project and introduces several improvements over previousdesigns. This updated solution has greater stability duringstair-climbing operation, and it satisfies the safety requirementsintroduced by ISO 7176-28:2012, “Requirementsand test methods for stair-climbing devices”. The mainimprovement presented concerns the regularity of the usertrajectory during stair-climbing, which ensures a morecomfortable perception. This result has been achievedby introducing a cam mechanism between the frameconnected to the locomotion unit and the seat frame,which properly manages the seat orientation. With anappropriate cam profile, it is possible to compensate for theoscillations that are introduced on the wheelchair duringthe climbing sequence and allow the user to obtain atranslational trajectory. Results: The proposed designand its working principle are first described and illustratedthrough schematic and graphic representations. A briefexplanation of the procedure for obtaining the cam profileis also given. Two different architectures for the cammechanism are then compared, and the advantages anddisadvantages for each solution are identified. Finally, thekinematic wheelchair performances are tested through asimulation conducted in the MSC-ADAMS multibodyenvironment. Conclusions: The results obtained with thesimulation show the effectiveness of the proposed solution.The wheelchair is able to climb a staircase in a safe andregular way. Following studies will complete the designof the wheelchair with the aim to build a prototype fordemonstrating the proposed working principle.



stair-climbing wheelchair, architectural barriers, cam mechanism, wheelchair.q

How to Cite
Quaglia, G., Franco, W., & Nisi, M. (2016). Kinematic analysis of an electric stair-climbing wheelchair. Ingenieria Y Universidad, 21(1), 27 - 48. https://doi.org/10.11144/Javeriana.iyu21-1.kaes
Industrial and systems engineering
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