INTELLIGENCE WHEELCHAIR

INTELLIGENCE WHEELCHAIR

INTRODUCTION:

The chain is preloaded to remove backlash. The proximal link is designed so that the chain passes through the neutral axis of the link to minimize bending moments so that the link is in pure compression. The tension in the chain is sensed by strain gages on the proximal link and this allows the measurement of the transverse foot force. The distal link is fabricated from an aluminum tube. At the end, it is equipped with a compliant ankle which is a linear spring loaded joint on linear bearings. The ankle is instrumented with a linear potentiometer that enables the estimation of the axial foot force

Each joint in the leg is driven with a single DC gear motor capable of exerting 22.6 N-m of torque at 26 rpm, with a peak (stall) torque of 27.12 N-m. Another reduction of 3:1 is accomplished between the gear motor and the joint. The maximum foot force that can be exerted continuously is 166 N, with a peak rating of 200 N. Each rear wheel is also driven by a similar gear motor with a rating of 4.5 N-m of continuous torque. The maximum foot speed is approximately 2.2 m/s. At the rated wheel speed 78 rpm , the chair moves at 0.93 meters/second(3.4 km/h). All motors legs and wheels are mounted on the chassis base of the chair so that their weight is not borne by the moving links.

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