Force and Operation Analyses of Step-Climbing Wheel Mechanism by Axle Translation

Abstract

Obstacles such as ramps, steps and irregular floor surfaces are commonly encountered in homes, offices and other public spaces. These obstacles frequently limit the daily activities of people who use mobility aids. To expand the scope of their activities, a wheel mechanism for climbing a step while reducing the horizontal climbing force is proposed to be applied into self-propelled wheelchairs. The physical and mental burdens of caregivers and medical staff can be reduced by making the users of the mechanism more self-sufficient. Specifically, the proposed step-climbing mechanism for the self-propelled wheelchair relies on offsetting the rotational axis of the wheel for step climbing. This paper provides details on this offsetting mechanism and its force analyses.