Imperial Journal of Interdisciplinary Research (IJIR)

Peer Reviewed – Interna onal Journal

Vol-3, Issue-9, 2017 (IJIR)
ISSN: 2454-1362, h p://www.onlinejournal.in

Design & Fabrication of Stair Climbing

Wheelchair
Prof. Pravin R. Patil1, Shivam P. Wasule2, Mukesh B. Khairnar3,
Abhay S. Wankhede4 & Ankush T. Pawar5
1Guide, ME (Manufacturing Processes), Dr.D.Y.Patil Institute of Engineering & Technology
2,3,4,5Students,
BE (Mechanical), Dr.D.Y.Patil Institute of Engineering & Technology

Abstract: From Past few years many types of
wheelchair had been designed, by developing its
functionality and Working. This project is specially
designed for economically poor people by changing
its structure design and mechanism. The main parts
of this chair are conveyor belt, frame and driving
mechanism. The design of Project will be done by
considering various loads, stresses at various
positions. The main factor of wheelchair is depends
on the angle of stair and center of gravity of whole
system. Understanding the Various issues regarding
the functionality of wheelchair and introducing a
advanced design that will be an as help for the
medical field and a helping hand for Physically
disabled people.
Introduction
Wheelchair is a device which is used by disabled
people for their personal mobility. There are various
types of wheelchairs available in the market like
hand-operated or automatic wheelchair and the
selection of wheelchair depends upon the physical
and mental condition of the person. Wheelchair has
some disadvantages against architectural difficulties
on its way. As per PWD 1995 act it is mandatory to
provide a hospitable environment in every public
property but many buildings in India are constructed
without considering convenience for handicapped
people and wheel chair users.
Stair climbing wheelchairs currently available in
market are very costly for the users and are not easy
to afford an automatic Stair-climbing wheelchair can
be a good solution for the user and can enhance the
mobility to access most of the buildings.
Literature Review
This project has been made by many people
around the globe and also in India but the mechanism
behind it is what our main innovation is.
The Mechanism which are available as –
1. Lobe Type Mechanism
2. Tri-Wheel Type Mechanism
Lobe Mechanism was invented in Japan and it was
found that it had some limitations where the lobe
could climb only a particular kind of steps of
particular dimensions and size only. Taking this into
account first what we did before designing the
mechanism. This mechanism becomes a
disadvantage because the person using the
wheelchair cannot carry different types of lobes all
the time. The three wheel mechanism has same
problems and so the mechanism which we are
designing it to solve the previous problems faced.
In order to provide functionality and mobility
required for climbing of stairs, two approaches are
presented in this thesis, proposed use of an
articulated wheel cluster technology and a practical
track based mechanism. Another aspect is the used of
a balance mechanism giving acceptable stability
margins. During climbing of stairs, it providing of
required stability all times is of prime important in
regard to safety, and hence in the public necessity of
all form of stair climbing devices. In case of
wheelchair constant seat angle is necessary.
Climbing of stairs represents two prime problems,
firstly the negotiating of each step, and secondly
providing steadiness for overall mechanism while on
the stairs. In case of able-bodied person a balance is
provided in form of legs and an unambiguous
balance mechanism is provided by the brain in
synchronicity with various sensory systems. The legs
are provided with high speed & high power output
actuators in form of muscles. The brain acts as the
combination of visual data and tactile / pressure
sensory data from the legs and balance sensors
associated with the ears / brain, this provides a
closed control loop.

Imperial Journal of Interdisciplinary Research (IJIR) Page 1

Imperial Journal of Interdisciplinary Research (IJIR)
Peer Reviewed – Interna onal Journal
Vol-3, Issue-9, 2017 (IJIR)
ISSN: 2454-1362, h p://www.onlinejournal.in

Problem Statement also reduces the problem of spark generation as

compare to the AC motors.
The main problems which are facing handicapped
people are:

a) The currently available wheel chairs do not

have functionality for climbing staircase.

b) If the handicapped person wants to reach

higher floor during lift failure, it’s inconvenient for
person to move upstairs with the conventional wheel
chair.

c) Some advanced automated wheelchairs are Figure 2. 12V DC Motor

expensive to middle class peoples.
Shaft:
Objective Torque Calculation:
The main objective of our project is to design the Power of Motor = P= 1500 watt
prototype and it is as follow:
Power transmitted by shaft,
a) Propose a design of wheelchair that will increase
the mobility and functionality in climbing of stairs. T →Torque transmitted
b) Making the total prototype as cost-effective and as
less expensive as possible. P=2πNT
60
c) Forming of a wheelchair structure that would
carry up to 30 kg mass Where ,

Selection of material and components N→ Rpm of motor shaft =2000-6000

Chassis: T →Torque transmitted

3
It is rectangular section made from the hollow 1500=2π×6000×T×10
mild steel. The mild steel is less in cost and it is 60
easily available in market. As to fulfill our objective
we choose mild steel material for chassis. 3
T= 2.38×10 N-mm

Diameter of shaft:

Torque transmitted,

T = Force × radius

3
2.38×10 = F× (No. of Teeth of gear 18)
Figure 1. Chassis. F = 132.22 N
Selection of Motor: F = 132.22
9.81
The motor is provided for the motion for the chair
while climbing. The main objective is that to use the F = 13.47 Kg
mechanism to anywhere not for the fixed particular
area. As we need high torque during climbing we Torque Transmitted by shaft,
selected the two geared DC motors each of 12v, they

Imperial Journal of Interdisciplinary Research (IJIR) Page 2

Imperial Journal of Interdisciplinary Research (IJIR)
Peer Reviewed – Interna onal Journal
Vol-3, Issue-9, 2017 (IJIR)
ISSN: 2454-1362, h p://www.onlinejournal.in

conveyer belt will be having grips to provide

3 friction force and attractive force will be
T= π ×Ʈ× d generated by the motors driving the pulleys. This
16
combination of mechanism will help the chair to
Select permissible shear stress (Ʈ) from design data
book. traverse and hold the inclined plane easily. A pair
of pulleys is projected few inches higher than rest
2 to provide assistance in the climbing of stairs.
Ʈ = 70 N/mm
Working
Therefore,
A 24 V, electric supply is given to DC motor which
3 3 converts electric supply to motive power. Further
2.38×10 N-mm = π ×70 ×d this motor power is transmitted to driving pulley
16 through belt drive. Further the drive is given to the
supporting pulleys through belt drive. For making
D = 5.574 mm the wheelchair climb the chair it tilted to a prefixed
angle to adjust the CG during climbing, hydraulic
Taking factor of safety = 1.6 actuators are provided. For climbing the chairs the
teeth of the belt grips the stairs and elevates upwards.
D = 1.6 × 5.574 = 8.919 = 9 mm Once the front pulley climbs the stairs, the main
frame approaches the stairs and climbs the stairs.
We select dia. Of shaft = 20mm. for safety factor While descending stairs the base module first
descends the stairs followed by the back supporting
pulley. At the end of stair the angle of the module
Selection of Pulley: helps in descend.
In this project we used two types of pulleys: Future scope
A) Driving pulley: Here we have used Aluminum The future enhancement of our project is we have
material which have medium strength alloy with to rectify the problems that we have encountered
good mechanical properties such as corrosion during descending of the wheel chair in stairs. We
resistance and weld ability. had a smooth travel while ascending but while
coming down from the steps, we found some
B) Supporting & Tension pulleys: We have plastic vibration problem and to overcome this we have
polymer which is light and can be easily driven. planned to install springs and braking system, so that
These pulleys are used for giving support And wheel chair will be in a good control while
Tension only to the belt. descending also. One more gear can be used near the
handle for easy rotation of handle. To increase the
speed of the wheel chair gears and sprockets sizes
Power Source used: can be varied.
Here we used 2 × 12v rechargeable DC batteries The Man is always trying to develop more and
to supply required current to drive high torque motor more modified techniques by improving the aesthetic
and related accessories. look and economic consideration. But we can ignore
the topic of aesthetics since it is about helping the
Specification: crippled people. But us being engineers and having
the capability to think and plan, we brought up this
1. 2 batteries of 12volts each following idea. But due to lack of funds required, we
2. Cycle use: 14.4V - 15V could mention the following modifications can be
done for the project to make it even more efficient.
3. Standby use: 13.5V – 13.8V
1. Upgrading quality of belt, The Belt is also an
4. Charging time: 6 – 8 hours with standard charger.
important component because when belt grips to the
stairs, the more it can climb easily and get down as
Gripped Conveyor Belt: well. Caterpillar tracks are costly and not available at
most places as they are used in tank tracks.
Another important component for our design 2. By using hydraulic mechanism to shift and
is gripped conveyor belt. The pulleys will be maintain the CG, So that centre of gravity easily
connected using a pair of conveyer belts. The maintained while ascending and descending of
wheelchair on staircase. It affects the stability of

Imperial Journal of Interdisciplinary Research (IJIR) Page 3

Imperial Journal of Interdisciplinary Research (IJIR)
Peer Reviewed – Interna onal Journal
Vol-3, Issue-9, 2017 (IJIR)
ISSN: 2454-1362, h p://www.onlinejournal.in

system and also it reduces the load on motor.

Conclusion
The various mechanisms were reviewed and the
most appropriate were studied in detail. Their
advantages and limitations were compared and the
tank mechanism was found to be most suitable to
fulfill the various requirements. Modeling was
carried out using Solid works software and the
results achieved were encouraging. Hence, this
mechanism was used for the further development of
prototype. A test model was developed and
modifications were made for design for
manufacturing and assembly after thorough
experimentation on the model. Based on these
modifications, the actual prototype was developed.
The chair mechanism and the electrical controls were
also mounted. The prototype was tested on level
surface as well as on staircase. It is seen that the tank
mechanism works effectively as it was expected.

Figure 3. Ref. 2, Actual image of project

References
[1]M.R. Kushte, O.S. Dalvi, R.R. Date, A.V. Shelar, Asst.
Prof. A.A Kumbhar, "Design & Fabrication of Staircase
Climbing Wheelchair using Conveyor Belt Mechanism,
IRJET ,4 April 2018.
[2] Channabasavaraj B D, Ganesh, Sachin, Sumanth G
Vaidya "
Stair Climbing Wheel Chair ",IJLERA, 05 May 2017, pp.
120-127.
[3] Giuseppe Quaglia, Walter Franco and Riccardo Oderio,
Motorized wheel chair with stair climbing ability,
International Journal of Innovation Of Machine And
Materials, 46(11), 2009, 1601-1609.
[4] Murray J Lawn and Takakazu Ishimatsu, Modeling of a
stair climbing wheel chair mechanism with high single step
capability International journal of Robotics and Machines,
11(3), 2003, 323-332
[5] S R Rajasekar et al., “Design and fabrication of
staircase climbing wheelchair”, International Journal of
Mechanical Engineering and Robotic Research.(IJMER),
Volume 02, Issue 02, April 2013.

Imperial Journal of Interdisciplinary Research (IJIR) Page 4