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Motion Analysis of a Robotic Wheelchair

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Advances in Robot Design and Intelligent Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 371))

Abstract

This paper presents the authors’ contribution in designing and evaluating a transmission system for a robotic wheelchair. The kinematics of the proposed transmission is analysed in order to realize a proper gear synthesis. A 3D model of the transmission and wheelchair are designed in Solid Works, being then used for the dynamic simulation of the system in Adams software. The wheelchair motion simulation is done in Adams in two modes: traction motion and steering motion active. In case of traction motion simulation the resulting trajectory is a straight line displacement, whereas in the case of active steering motion the resulting displacement trajectory is circular. Simulation results demonstrate the efficiency of the developed transmission model and assure successful implementation of this design in a robotic wheelchair.

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Acknowledgments

This work was supported by the strategic grant POSDRU/159/1.5/S/133255, Project ID 133255 (2014), co-financed by the European Social Fund within the Sectorial Operational Program Human Resources Development 2007–2013.

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Authors and Affiliations

  1. University of Craiova, Craiova, Romania

    Ionuţ Geonea & Nicolae Dumitru

Authors
  1. Ionuţ Geonea
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  2. Nicolae Dumitru
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Corresponding author

Correspondence to Ionuţ Geonea .

Editor information

Editors and Affiliations

  1. Fac of Auto Ctrl & Comp Sci (Automatica), University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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© 2016 Springer International Publishing Switzerland

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Geonea, I., Dumitru, N. (2016). Motion Analysis of a Robotic Wheelchair. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_47

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  • DOI: https://doi.org/10.1007/978-3-319-21290-6_47

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-21289-0

  • Online ISBN: 978-3-319-21290-6

  • eBook Packages: EngineeringEngineering (R0)

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