Structural Kinematic Analysis of a Wheelchair Mechanism Designed for Disabled Persons

The research aim is to achieve a structural kinematic analysis of a wheelchair prototype used mainly for disabled persons, especially with locomotion problems. The research core focuses on a mechanical transmission consisting of two kinematic chains, one for wheelchair motion in a straight path and the other for wheelchair motion in a curved path. Both kinematic chains are actuated by two electric motors with dedicated gearboxes for a coordinated motion given by the wheelchair command and control system. The virtual prototyping and numerical simulation analyses are developed for a parametrized motion which leads to establishing the dynamic and kinematic parameters of the wheelchair mechanical transmission. Thus, these analyses will be performed by considering the contact forces existent at the level of ordinary and differential transmissions, respectively at the level of spur and bevel gears. The results obtained through this research will be used in further research as input data for dynamic analysis of the proposed concept, and also for optimization processes.