Integrated modelling and design for realizing a two-wheeled wheelchair for disabled

Altalmas, Tareq, M.K. and Aula, Abqori and Ahmad, Salmiah and Tokhi, Mohammad Osman and Akmeliawati, Rini (2016) Integrated modelling and design for realizing a two-wheeled wheelchair for disabled. Assistive Technology: The Official Journal of RESNA. pp. 1-53. ISSN 1040-0435 E-ISSN 1949-3614

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Abstract

Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better manoeuvrability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modelling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair. Most common modelling techniques have been accomplished by researchers utilizing the basic Newton’s Laws of motion and some have used 3D tools to model the system where the models are much theoretical and quite far from the practical implementation. This paper is aimed at closing the gap between the conventional mathematical modelling approaches where the integrated 3D modelling approach with validation on the actual hardware implementation was conducted. To achieve this, both nonlinear and a linearized model in terms of state space model were obtained from the mathematical model of the system for analysis and, thereafter, a 3D virtual prototype of the wheelchair was developed, simulated and analysed. This have increased the confidence level for the proposed platform and facilitated the actual hardware implementation of the two-wheeled wheelchair. Results show that the prototype developed and tested has successfully worked within the specific requirements established.

Item Type:	Article (Journal)
Additional Information:	4113/50700
Uncontrolled Keywords:	Double inverted pendulum, Lagrangian model, Two-wheeled mobile robot, Wheelchair, Mobility, Equality.
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering T Technology > TA Engineering (General). Civil engineering (General) > TA174 Engineering design T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Ir. Dr. Salmiah Ahmad
Date Deposited:	15 Jun 2016 11:35
Last Modified:	20 Mar 2017 11:17
URI:	http://irep.iium.edu.my/id/eprint/50700

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