CONTENTS

Nomenclature---------------------------------------------------------------------------------- i

List of Figures--------------------------------------------------------------------------------- ii

List of Tables----------------------------------------------------------------------------- iii

1. Introduction--------------------------------------------------------------------------- 1

1.1 Problem statement --------------------------------------------------------------- 1

1.2 Objective of work----------------------------------------------------------------1

2. Review Literature-------------------------------------------------------------------- 2

3. Methodology--------------------------------------------------------------------------3

3.1 Market study--------------------------------------------------------------------- 3

3.1.1 Electric wheelchair----------------------------------------------------- 3

3.1.2 Heavy duty wheelchair------------------------------------------------ 3

3.1.3 Transportable wheelchair--------------------------------------------- 4

3.1.4 Power based wheelchair----------------------------------------------- 4

3.1.5 Mobi electric wheelchair---------------------------------------------- 5

3.1.6 Sports wheelchair------------------------------------------------------ 5

3.2 Indian market analysis---------------------------------------------------------- 6

3.3 Customer requirements--------------------------------------------------------- 8

3.4 Concept development----------------------------------------------------------- 10

3.5 System level design------------------------------------------------------------- 15

3.5.1 Seat----------------------------------------------------------------------- 15

3.5.2 Frame-------------------------------------------------------------------- 18

3.5.3 Gear motor-------------------------------------------------------------- 19

3.5.4 Wheels------------------------------------------------------------------- 20

3.5.5 Planetary gear train---------------------------------------------------- 23

3.5.6 Planet carrier------------------------------------------------------------ 23

3.5.7 Linkage mechanism---------------------------------------------------- 24

3.5.8 Transmission mechanism--------------------------------------------- 25

3.6 Detail design--------------------------------------------------------------------- 26

3.6.1 Materials----------------------------------------------------------------- 26

3.6.2 Digital Mockup--------------------------------------------------------- 27

4. Results and discussion-------------------------------------------------------------- 29

5. Conclusion---------------------------------------------------------------------------- 31

References---------------------------------------------------------------------------- 32
1 INTRODUCTION

A motorized wheelchair or electric-powered wheelchair is a wheelchair that is propelled by means of an

electric motor rather than manual power. Motorized wheelchairs are useful for those who are not able to
impel a manual wheelchair or who may need to employ a wheelchair for distances or over terrain which
would be strenuous in a manual wheelchair. They may also be used not just by people with conventional
mobility impairments, but also by people with cardiovascular and fatigue based conditions. Electric
wheelchairs have enhanced the quality of life for many people with physical disabilities through the mobility
they afford. The selection of power chair will rely on many factors; including the kind of surface setting the
chair will be driven over, the need to settle thresholds and curbs, and clearance widths in accustomed
environment. The most fundamental job of the chair is to take input from the user, usually in the form of a
small joystick, and decipher that motion into power to the wheels to move the person in the preferred
direction. The last few years have seen abundant improvements and models that give the user unmatched
control of the wheelchair in terms of both user effort and vehicle aptitude

1.1 Problem Statement

A stair climbing powered wheelchair designed for elderly people at domestic places.

1.2 Objective of Work

The objective of this project is to analyze and prototype a motorized wheelchair based on extensive fact
findings and research on existing models, technology used, market scenario and customer requirements. The
course of our work begins with the planning phase involving initial research, literature review and
background study. It is followed by concept generation phase that includes evaluating customer
requirements, outlining specifications and generating concept designs. Next comes the system level design in
which product architecture is defined and parts are modeled in CATIA. The fourth phase is detailed design
phase where we focus on design for assembly and manufacturing and simulation in virtual environment. In
the final phase, we progress towards prototyping and testing a feasible model.
2 REVIEW LITERATURE

The research and analysis of motorized wheelchairs dates back in time with several scientists and researchers
evaluating the stair climbing mechanism. Ghani et al [1] investigate the control of a stair climbing
wheelchair used for indoor purposes. This paper evaluates different stair climbing mechanisms viz crawler
type, leg type, hybrid type and wheeled type. The model of a stair climbing wheelchair based on two wheels
is generated using MSC Visual Nastran 4D (VN) design software. The humanoid model is developed using
requisite anthropometric data. Various forces and torques acting on the wheelchair while climbing the stairs
are evaluated. Preferably, the outer support assembly comprises wheels on either side of the chair. An inner
support assembly, closer to the centerline of the chair, also supports the seat assembly. Franco et al [2] did
work related to development of a stair climbing wheelchair that can move in structured and unstructured
environments, climbing over obstacles and going up and down stairs. The wheelchair design is vividly
elaborated. The wheelchair consists of a frame, seat and a linkage mechanism connecting the same. The
frame consists of a chassis embedded with two motorized locomotion units, a support for two electrical gear-
motors, two idle triple wheels units and a battery pack. The seat is a tubular structure that consists of a chair
and a pivoting wheel. The linkage mechanism is responsible for relative motion between frame and seat
during stair climbing operation. To successfully climb the stairs, it is required to move the seat backwards,
then reorient it and finally lift up the pivoting wheel. When the seat is moved backwards, the center of mass
of the wheelchair shifts to a safe position, and toppling is thus prevented. A four bar linkage is appointed for
the same. The linkage mechanism is actuated by a mini-motor connected to a lead screw device. When the
seat reaches the desired position the motor is turned off and no extra energy is required to maintain the
position. The customer requirements were studied and evaluated after referring them from the DLF
(Disabled Living Foundation) factsheet. The factsheet aptly outlines what the user needs, wheelchair
features, preliminary considerations before buying a wheelchair, wheelchair controls, how to negotiate
curbs, specifications of batteries and chargers, special features of motorized wheelchairs, accessories of
different types of wheelchairs as well as about insurance and customer requirements. Murray., [3] has
elaborated the background as well as recent developments in mobility assistive mechanisms while discussing
the relative importance of stairs and wheels. These various types includemobility scooters, track based stair
climbers, clustered wheel concept and caterpillar wheel based devices. A mechanism is proposed which is
based on the use of four wheels. The rear wheels are autonomously driven and front wheels are freewheeling
castors. This proposed concept is numerically modeled and power calculations for linear actuator are made.
Stair ascent and stair descent operations are described along with figures and equations. The control system
and the stair edge sensor system are also investigated. The stepping algorithm is discussed in detail. The
influence of external factors like cost, weight, aesthetics, range of operation, safety, operational efficiency,
comfort are evaluated. The track based stair climber is also analyzed similarly. Lockton [4] discusses the
retro fitting of electric power into manual wheelchairs. The existing products and configurations are
reviewed in a comparative table. Various product specifications are categorized and briefly described. These
include control devices, drives, steering and position. Various configurations viz Twin-wheeled drive, rear-
mounted, with differential steering, Single-wheeled drive, rear-mounted, with steering ahead of the wheel,
single-wheeled drive, rear-mounted, with steering above the wheel, Single-wheeled drive, rear-mounted,
with nutation steering and Single-wheeled drive, front-mounted, with handlebar/articulated steering are
evaluated. The motors, mechanics, control technology and usability are investigated for the above mentioned
combinations. Peizer et al [6] have investigated and summarized the evolution of wheelchairs over five
years. Anthropometric parameters required to be considered for the design of seat ergonomically, a book on
Indian anthropometric dimensions by Prof. D.K.Chakraborty is referred. Necessary measurements and data
have been collected from Indian Anthropometric Design.
a) Seat

Backrest - Length = 685mm Width = 480mm

Base - Depth = 110mm Width = 480mm

Armrest - Length = 260mm Width = 90mm

Thickness of chair = 50mm

b) Frame

Diameter of tubular section = 25mm

Height of frame = 400mm

Width of frame = 440mm

c) Wheel Carrier

Centre to centre distance = 200mm

Wheel diameter = 100mm

d) Gear motor and battery box

Length = 320mm

Width = 430mm

Thickness = 90mm
CHAPTER 1

INTRODUCTION

One-fifth of the estimated global population, i.e. between 110 million and 190 million people, experience
significant disabilities. Disabilities of various parts such as eye, ear, hand, leg etc. Limb disability is one of
the disabilities which are caused due to various reasons such as deformation by birth, war, disorders such as
diabetes. Lower limb of sports person also suffers huge blows while playing and are always at the risk of
suffering severe injuries. These injures sometimes may be a permanent disability.

1.1 WHEELCHAIR

1.1.1 HISTORY

The first records of wheeled seats being used for transporting disabled people date to three centuries later in
China; the Chinese used early wheelbarrows to move people as well as heavy objects. A distinction between
the two functions was not made for another several hundred years, around 525 AD, when images of wheeled
chairs made specifically to carry people begin to occur in Chinese art.

Wheelchair is used by people who have difficulty in mobility. Generally people who use are,

Lower limb disabled people Patients at the hospitals Elderly people.

1.1.2 TYPES OF WHEELCHAIR

There are many types of wheelchairs available in the market like manual or powered wheelchair and the
choice of wheelchair depends upon the physical and mental ability of the user. General types of wheelchairs
are,

1.1.2.1 Manual self-propelled wheelchair

A self-propelled manual wheelchair incorporates a frame, seat, one or two footplates (footrests) and four
wheels: usually two caster wheels at the front and two large wheels at the back as seen in Figure 1.1. There
will generally also be a separate seat cushion. The larger rear wheels usually have push-rims of slightly
smaller diameter projecting just beyond the tyre; these allow the user to manoeuvre the chair by pushing on
them without requiring them to grasp the tyres.

Figure 1.1: Manual self-propelled wheelchair

1.1.2.2 Manual attendant-propelled wheelchairs

An attendant-propelled wheelchair is generally similar to a self-propelled manual wheelchair, but with small
diameter wheels at both front and rear as seen in Figure 1.2. The chair is manoeuvred and controlled by a
person standing at the rear and pushing on handles incorporated into the frame. Braking is supplied directly
by the attendant who will usually also be provided with a foot- or hand-operated parking brake.

Figure 1.2: Manual attendant-propelled wheelchair

1.1.2.3 Powered wheelchairs

An electric-powered wheelchair, commonly called a "power chair" is a wheelchair which additionally

incorporates batteries and electric motors into the frame and that is controlled by either the user or an
attendant, most commonly via a small joystick mounted on the armrest, or on the upper rear of the frame as
seen in Figure 1.3.

Design and fabrication of multi-purpose wheelchair for differently-abled person 2016-2017

Figure 1.3: Powered wheelchair

1.1.2.4 Mobility scooters

Mobility scooters share some features with power chairs, but primarily address a different market segment,
people with a limited ability to walk, but who might not otherwise consider themselves disabled as seen in
Figure 1.4. Smaller mobility scooters are typically three wheeled, with a base on which is mounted a basic
seat at the rear, with a control tiller at the front. Larger scooters are frequently four-wheeled, with a much
more substantial seat.

Figure 1.4: Mobility scooter

1.1.2.5 Single-arm drive wheelchairs

One-arm or single arm drive enables a user to self-propel a manual wheelchair using only a single arm as
seen in Figure1.5. The large wheel on the same side as the arm to be used is fitted with two concentric
handrims, one of smaller diameter than the other. On most models the outer, smaller rim, is connected to the
wheel on the opposite side by an inner concentric axle. When both handrims are grasped together, the chair
may be propelled forward or backward in a straight line. When either hand-rim is moved independently,
only a single wheel is used and the chair will turn left or right in response to the hand-rim.
Design and fabrication of multi-purpose wheelchair for differently-abled person 2016-2017

Figure 1.5: Single arm drive wheelchair

1.1.2.6 Reclining wheelchairs

Reclining or tilt-in-space wheelchairs have seating surfaces which can be tilted to various angles as seen in
figure 1.6. The original concept was developed by an orthotist, Hugh Barclay, who worked with disabled
children and observed that postural deformities such as scoliosis could be supported or partially corrected by
allowing the wheelchair user to relax in a tilted position.

Figure 1.6: Reclining wheelchair

1.1.2.7 Sports wheelchairs

A range of disabled sports have been developed for disabled athletes, including basketball, rugby, tennis,
racing and dancing which can be seen in Figure 1.7. They are usually non-folding (in order to increase
rigidity), with a pronounced negative camber for the wheels (which provides stability and is helpful for
making sharp turns), and often are made of composite, lightweight materials

Design and fabrication of multi-purpose wheelchair for differently-abled person 2016-2017

Figure1.7: Sports wheelchair

1.1.2.8 All-terrain wheelchairs

All-terrain wheelchairs can allow users to access terrain otherwise completely inaccessible to a wheelchair
user from figure 1.8. Two different formats have been developed. One hybridises wheelchair and mountain
bike technology, generally taking the form of a frame within which the user sits and with four mountain bike
wheels at the corners. In general there are no pushrims and propulsion/braking is by pushing directly on the
tyres.

Figure 1.8: All-terrain wheelchair

1.1.3 LIMITATIONS
Wheelchair has limitations against architectural barriers on its way. Although as per PWD 1995 act it is
mandatory to provide an accessible environment in every public building but numerous buildings in India
are designed without considering accessibility for physically challenged and wheel chair users. Many urban
cities of India have addressed the problem by providing alternatives for the architectural barriers like
providing ramps at the entrance thresholds, lowering kerbs, wheeler chair ramps, lifts etc. But still a
wheelchair user has to negotiate few architectural barriers.

Several studies have shown that both children and adults benefit substantially from access to a means of
independent mobility, including power wheelchairs, manual wheelchairs, scooters, and walkers. Independent
mobility increases vocational and educational opportunities, reduces dependence on caregivers and family
members, and promotes feelings of self-reliance. For adults, independent mobility is an important aspect of
self-esteem and plays a pivotal role in “aging in place.” For example, if older people find it increasingly
difficult to walk or wheel themselves to the commode, they may do so less often or they may drink less fluid
to reduce the frequency of urination. If they become unable to walk or wheel themselves to the commode
and help is not routinely available in the home when needed, a move to a more enabling environment (e.g.,
assisted living) may be necessary. Mobility limitations are the leading cause of functional limitations among
adults, with an estimated prevalence of 40 per 1,000 persons.

1.2 STAIRS

A stairway, staircase, stairwell, flight of stairs, or simply stairs is a construction designed to bridge a large
vertical distance by dividing it into smaller vertical distances, called steps. Stairs may be straight, round, or
may consist of two or more straight pieces connected at angles. The step terminologies are as shown in the
Figure 1.9.

Each step is composed of tread and riser.

Tread

The part of the stairway that is stepped on. It is constructed to the same specifications (thickness) as any
other flooring. The tread "depth" is measured from the outer edge of the step to the vertical "riser" between
steps. The "width" is measured from one side to the other.

Riser

The vertical portion between each tread on the stair. This may be missing for an "open" stair effect.
CHAPTER 3

METHODLOGY

3.1 DESCRIPTION

The method we followed to complete the project is as follows,

3.2 PRINCIPLE PARTS

The wheel chair consists of following principle parts,

3.2.1 Frame

3.2.2 Lobe wheels

3.2.3 Chair

3.2.4 Gear motor and Reduction box

3.2.5 Transmission system

SELECTION

3.2.1 FRAME

A frame is a structural system that supports other components of a physical construction or steel frame that
limits the construction's extent. The frame was designed in solid edge V20 software. This frame was
fabricated using MS pipe of outer diameter 25.4 mm and wall thickness of 1.67mm. The frame can be
divided into two parts rectangular part and leg part. The rectangular part is used to hold the chair along with
the tilting mechanism, drive shaft and gear motor. The leg part is mainly used to hold the planetary wheels
and driven shaft. The dimensions of the rectangular part were chosen by considering the space required for a
normal person to sit comfortably and taking other ergonomic considerations. The properties of mild steel is
shown in table 3.1. The design of the frame in figures 3.1 and 3.2.

Table 3.1: Properties of mild steel

Frame Analysis

The analysis of the frame was done by using ANSYS 15.0. A load of 1500N was applied on the centre of
gravity and the deformation was analysed. The maximum deformation was found to be 0.1mm. The safety
factor for both static and fatigue loading were found good enough to sustain the load. The safety factor of
stress was 7.3 and the safety factor of fatigue was 2.6. Maximum deformation was found at the plate on
which the seat is being mounted. The stress analysis was done by using the maximum principal stress theory.
The loading and boundary conditions applied during the analysis is as shown in table 3.2. The results of the
analysis are shown in figures 3.3 - figure 3.7.

3.2.2 WHEELS

The stair climbing lobe wheel was designed by imitating the continuous foot movement in a human gait
cycle. The discontinuous wheel or stair climbing lobe wheel is designed to produce similar phase cycle as
stance and swing phase of human gait cycle as shown in figure 3.8. The stair climbing lobe wheel is
designed by considering foot size of human so that each spoke shoe will adjust to the tread size
automatically as shown in fig. The size between each shoe is designed to negotiate maximum height of the
riser in public building. It can negotiate the step riser of range 75 – 185mm and tread width range 230 –
350mm which enables it to access almost all the stairs in public areas. A light weight wheel with drum
brakes was also developed to control the movement of the shaft during ascending and descending process.

Wheel Analysis

Wheel analysis was done by using ANSYS 15.0 software. In the analysis only deformation and factor of
safety of the wheel were considered in static position. The deformation, stress and strain were calculated.
The stress and strain were calculated based on maximum principal stress theory. The properties of the
plywood used to make the lobe wheel are mentioned in table 3.3. The wheel analysis is shown in figures
3.11 to 3.13.

3.2.3 CHAIR

The chair is one of the main parts of the wheelchair. The chair is fitted on to the frame of the wheelchair.
There is a tilting mechanism which connects the chair to the frame. There is need for the tilting mechanism
because the person sitting on the wheelchair may feel like slipping from the seat because of the inclination of
the stairs. The more the inclination of the stairs the more he feels to slip from the chair. So with help of the
seat tilting mechanism the person sitting on the wheelchair can adjust the seat to the higher angle making the
seat nearest to parallel to the ground so that he may sit comfortably on the wheelchair while it is climbing
stairs.

3.2.4 GEAR MOTOR

A gear motor is used as locomotion unit and this motion is transmitted to the wheels through shafts. This
motor is mounted on a support provided by the shaft as shown in figure 3.16. The dimensions and
specifications of gear motor are obtained from standard motors available. A gear motor of 180 watt power
and 1:24 reduction gear ratio is used to reduce the speed to 60 rpm. Further the speed of the motor is reduced
to 1.5 rpm using 1:40 ratio gearbox. The specifications of the motor and the battery is shown in table 3.4 and
3.5 respectively

Table 3.5: Specification of motor Motor DC gear motor Voltage 24V Current 7.5 A Duty S1 Speed 1440
rpm

Table 3.6: Battery specifications Battery type Dry battery Voltage 12 V Current 7.5 Ah

3.2.5 TRANSMISSION SYSTEM

The transmission component of the wheelchair design is responsible for allowing the operator to change
gears between forward, neutral, and reverse movement. The transmission system consists of the motor and
chain-sprocket system. The motor with the reduction box is directly mounted on the centre shaft with the
help of mountings from the frame to hold the motor in place. Therefore the motor is mounted rigidly, so that
all the torque produced is completely transferred to the wheels. Now the drive from the centre shaft is
transferred to the front and back shafts with the help of the chain sprocket arrangement. The front and back
shafts drive the wheels which climbs the stairs.

CHAPTER 4

WORKING MECHANISM
The power is generated using a DC geared motor. This motor is coupled with a gear box. Due to this the
high speed, low torque input of the motor gets converted to low speed high torque output. The geared box is
coupled with the centre shaft which gets high torque but low rpm.

Two sets of sprockets are used. In both the sets all the sprockets are of 33 teeth. 2 sprockets are mounted on
the centre shaft; the rear shaft and the front shaft have one sprocket each.

The front and rear sprockets receive same high torque as they are on the centre shaft. This torque is
transmitted to both front and the rear shaft using a chain drive system. Since the sprocket on the front and
rear shaft are same there will be no change in the torque transmitted and also the speed will remain same as
the centre shaft. The mechanism can be seen in the figure 4.1 and figure 4.2.

5.1 ADVANTAGES AND DISADVANTAGES

5.1.1 ADVANTAGES

The wheelchair can be used to climb up or climb down the stairs.

The seat can be tilted to the required angle.

The wheelchair can climb stairs up to 7 inches in rise.

The operation of the wheelchair is easy.

The wheelchair is economical compared to the products in the existing market.

5.1.2 DISADVANTAGES

The wheelchair is heavy.

The capacity of the motor required to climb the stairs is high.

The battery capacity required to run the motor the motor is more.

The width of the wheelchair is more than the usual wheelchairs.

5.2 APPLICATIONS

Hospitals and public places

Institutions and office

Industries

Home
5.3 ENGINEERING PRACTICES 5.3.1 HUMAN SAFETY

The wheelchair is designed such that it can sustain loads up to 1500N i.e. ~150kg.

The motor speed is very low so that the person on the wheelchair does not feel any jerks or any
imbalances. Also the wheel design is such that there will be reduction in vibration during the ascent and
descent of stairs.

Seat tilting mechanism is provided to reduce the tendency of slipping of the person sitting on the
wheelchair during ascent.

5.3.2 ENVIRONMENTAL IMPACT

The wheelchair uses electric motor, so there are no harmful impact on the environment.

The wheels which used are made out of wood which is environment friendly and does not cause any
damage to the stairs.

5.3.3 ETHICAL PRACTICES

All four of us in the project team contributed equally to the project.

There was no backstabbing or blaming on any team member.

The design of the wheelchair is based on available standards.

The details of other stair-climbing wheelchairs discussed are based on the available literature

5.3.4 COST CONSIDRERATION

The imported stair-climbing wheelchair available is very costly to buy for a middleclass people, where as
our wheelchair is cost effective and parts are easily replaceable and available in the market.

CHAPTER 6

BILL OF MATERIALS

The details of the particulars and their respective costs are as shown in the table 6.1
Table 6.1 Bill of materials

CHAPTER 7 CONCLUSIONS

The design of the wheelchair is compact and hence is able to move about in almost all the stairs that we find
at institutions, offices, industries and also at some homes. The design is made very safe and there is no
chance of failure of the frame and wheels under normal conditions

According to the tests conducted, the stair climbing wheelchair has a capacity of carrying a load of 100kgs
on flat surface. It has the ability to ascend a flight of stairs of 35-degree elevation carrying a weight of
55kgs.

CHAPTER 8

FUTURE SCOPE

The frame weight can be reduced by using high strength lightweight materials such as composites, carbon
fiber.

The wheelchair can be automated by using electronics so that it will automatically sense and climb the
stairs.
PROJECT PHOTOS