Final FYP Report Finals

DVELPMENT OF STANDING WHEELCHAIR
Completion Year
2024
Advisor
Asim Maqsood
Co-Advisor
Muhammad Wisal Khan
Advisee
Mamoon Rashid 70113690
M. Bilal 70112787
M Ahmad Khan 70112896
Shafqat Shahbaz 70111548
Department of Electronics and Electrical System

The University of Lahore
DEPARTMENT OF ELECTRONICS & ELECTRICAL SYSTEMS
Title: Development of Standing wheel chair

Group Details
Roll No Name Contact Number E-mail
70113690 Mamoon Rashid 0309-7969221 70113690@student.uol.edu.pk
70112787 M. Bilal 0315-7722595 70112787@student.uol.edu.pk

70112896 M Ahmad Khan 0314-7853684 70112896@student.uol.edu.pk
70111548 Shafqat Shahbaz 0308-4957482 70111548@student.uol.edu.pk
.1 Advisor:
Name: Asim Maqsood
Designation: Lecturer
Contact: 0334-4416104
Email: asim.maqsood@es.uol.edu.pk
.2 Co-Advisor:
Name: Muhammad Wisal Khan
Designation: Assistant Professor
Contact: 0321-5331498
E-mail: Muhammad.wisal@es.uol.edu.pk
.3 Funding/Sponsoring Organization (if any):
N/A
.4 Project Type (Please mark )
 New
.5 Nature of Project (Please mark )
 Hardware Base
1
Remark by Advisor
Mr. Asim Maqsood
Remark by Co-Advisor
Mr. Muhammad Wisal Khan
Remark by Head, Department of Electronics and Electrical System
Dr. Syed Baqar Hussain
2
DEDICATION
We would like to dedicate this project to the most precious relations of our Parents,Teachers
and Friends.
Thank you all. without you we would not be what we are today.
3
UNDERTAKING
We, hereby declare that this project neither as a whole nor as a part thereof has been copied out
from any source. It is further declared that we have developed this project and the accompanied
report entirely on the basis of our personal efforts made under the sincere guidance of our
supervisors. No portion of the work presented in this report has been submitted in the support of
any other degree or qualification of this or any other University or Institute of learning, if found
only we shall stand responsible.
Signature
Mamoon Rashid
M. Bilal
M Ahmad Khan
Shafqat Shahbaz
4
ACKNOWLEDGEMENT
We are grateful to the ALLAH Almighty who provides all the resources of every kind to us, so
that we make their proper use for the benefit of mankind? May Allah keep providing us with all
the resources, and the guidance to keep helping humanity?
We would like to express our heartfelt gratitude to our supervisor Mr. Asim Maqsood and
Mr.Wisal Khan who’s provided encouraging and constructive feedback thoughts. It is noeasy
task, reviewing a thesis and we are grateful for his thoughtful and detailed comments and also
for helping to shape and guide the direction of the work with his careful and instructive
comments.
We would not have contemplated this road if not for our Parents, who instilled within us a loveof
creative pursuits, science and language, all of which finds a place in this thesis. To our parents,thank
you. Who have also been the best of friends along this journey who encouraged us to lookforward
to be more than just student?
5
Abstract
Currently, there are more than 700 million people in the globe who are disabled or
handicapped in a certain way. Most European and Asian nations and all civilized countries
have seen their senior population expand at an alarming rate during the previous few
decades. The scientific world has been paying more attention to this problem in recent
years, and numerous solutions have been presented to help people in these groups live
more independently.
To counter such problems, the instrument or the machine named wheelchair was invented
which is currently going under various changes to increase the ease and comfortability of
the patient or a disabled person. The current study proposes a standing wheelchair that is
fully mechanized. To operate the wheelchair, it is attached to both a fixed frame and a
mobile frame that moves back and forth. On one side, the belt is fixed to the moving frame
and rotates on a pulley on the fixed frame. To convey force, a chain drive is used. Thus,
the design and development of such a wheelchair with its results are demonstrated in the
current paper. In addition, a comprehensive study of four materials was done which
includes Mild Steel, Aluminum [1], Titanium, and Carbon Fiber on the parameters such
as material characteristics, weight, and economical aspects. Based on the study, a standing
wheelchair is designed and fabricated works better for the physically disabled person.
6
Table of Contents
DEDICATION ....................................................................................................................... 3
UNDERTAKING ................................................................................................................... 4
ACKNOWLEDGEMENT .................................................................................................... 5
ABSTRACT ........................................................................................................................... 6
TABLE OF CONTENTS ...................................................................................................... 7
LIST OF FIGURES ............................................................................................................... 9
LIST OF TABLES ............................................................................................................... 11
CHAPTER 1......................................................................................................................... 12
INTRODUCTION ............................................................................................................ 12
1.1. OBJECTIVES AND PROBLEM STATEMENT ...................................................... 14
1.1.1 FEATURES ............................................................................................................ 14
CHAPTER 2......................................................................................................................... 15
LITERATURE REVIEW ................................................................................................. 15
CHAPTER #3....................................................................................................................... 18
SOLUTION ...................................................................................................................... 18
3.1 DIFFERENT SOLUTIONS ............................................................................................... 18
3.1.2 Standing wheelchair using the principle of folding chairs ..................................... 18
3.1.2 Standing wheelchair using hydraulic control system ............................................. 18
3.1.3 Standing wheelchair using parallelogram .............................................................. 19
CHAPTER#4........................................................................................................................ 20
COMPARISON AND RESULTS .................................................................................... 20
4.1 Comparison ............................................................................................................ 20
4.1.1 Folding chair principle ........................................................................................ 20
4.1.2 Hydraulic controlling wheelchair ....................................................................... 20
4.1.3 Wheel chair with parallelogram .......................................................................... 21
4.2. RESULTS ..................................................................................................................... 22
4.3. DESIGN OF THE BEST SOLUTION .................................................................................. 23
4.4 THE FLOWCHART OF WHEELCHAIR .............................................................................. 24
4.5 Modeling ................................................................................................................ 25
4.5.1 Back support (top)............................................................................................... 25
4.5.2 Transformable parallelogram (middle) ............................................................... 27
4.5.3 Base (bottom) ...................................................................................................... 29
CHAPTER #5....................................................................................................................... 30
CONTROLLING SYSTEM ............................................................................................... 30
5.1 CONTROL BUTTONS ..................................................................................................... 30
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5.2 HYDRAULICS DRIVER SELECTION ................................................................................ 31

5.3 POWER SUPPLY SELECTION ......................................................................................... 31
CHAPTER#6........................................................................................................................ 32
RESEARCH METHOD ........................................................................................................ 32
6.1 SCHEMATIC OF THE RESEARCH ................................................................................... 32
6.2 EQUIPMENT IN DESIGNING ................................................................................. 33
6.2.1 Software CAD ........................................................................................................ 33
6.3 MEASURING INSTRUMENT: .......................................................................................... 33
6.3.1 Roller: ................................................................................................................. 33
6.3.2 Vernier Caliper: .................................................................................................. 34
6.3.3 Micrometer Screw Gauge: .................................................................................. 34
CHAPTER #7....................................................................................................................... 35
Design Concept: ............................................................................................................. 35
7.1 PROBLEM IDENTIFICATION:......................................................................................... 35
7.2 CRITERIA OF DESIGN: ................................................................................................. 37
7.3 MECHANICAL DESIGN AND KINEMATIC ANALYSIS: .................................................... 37
CHAPTER 8......................................................................................................................... 41
RESULT AND ANALYSIS .................................................................................................. 41
8.1DESIGN RESULT ........................................................................................................... 41
8.1.1 Seat Frame: ............................................................................................................. 42
8.1.2 Back Frame: ........................................................................................................... 43
8.1.3 Arm Frame: ............................................................................................................ 44
8.2 ANALYSIS AND DISCUSSION: ...................................................................................... 45
8.2.1 Finite Element Analysis: ........................................................................................ 45
8.2.2 Static Structural Analysis for Linear Motor ........................................................... 48
8.2.3 Discussion: ............................................................................................................. 50
CONCLUSION .................................................................................................................... 54
RECOMMENDATION: .......................................................................................................... 54
REFERENCES .................................................................................................................... 55
APPENDIX: ......................................................................................................................... 56
THE DRAWINGS OF MAIN COMPONENTS ............................................................... 56
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List of Figures
FIGURE 1: MANUALLY OPERABLE STANDING WHEELCHAIR ...................................................... 15
FIGURE 2: ELECTRICAL CONTROLLING ...................................................................................... 16
FIGURE 3:WHEELCHAIR MAIN VIEW OF FINAL MODELLING ....................................................... 23
FIGURE 4:WHEELCHAIR MAIN VIEW OF FINAL MODELLING ....................................................... 24
FIGURE 5:ASSEMBLY DRAWING OF TOP PART IN WHEELCHAIR .................................................. 25
FIGURE 6:DETERMINE THE ANGLE WHEN PERSON START TO STAND UP ..................................... 26
FIGURE 7:THE ANGLE OF FINAL STANDING POSITION ................................................................ 27
FIGURE 8:SCHEMATIC DIAGRAM OF HOW ITS WORK .................................................................. 27
FIGURE 9: ASSEMBLY DRAWING OF MIDDLE PART IN WHEELCHAIR ........................................... 28
FIGURE 10:THE DEMONSTRATION OF THE PARALLELOGRAM .................................................... 28
FIGURE 11: THE CHANGE OF THE CENTER OF GRAVITY WHEN PERSON WANT TO STANDUP........ 29
FIGURE 12:ASSEMBLY DRAWING OF BOTTOM PART IN WHEELCHAIR ........................................ 29
FIGURE 13: CONTROL BUTTONS ................................................................................................ 30
FIGURE 14:DQ860MA DRIVER ................................................................................................. 31
FIGURE 15:DRY BATTERY ........................................................................................................ 31
FIGURE 16:FLOWCHART OF THE RESEARCH .............................................................................. 32
FIGURE 17:SOLID WORKS 2016 ................................................................................................. 33
FIGURE 18:ROLLER ................................................................................................................... 33
FIGURE 19:VERNIER CALIPER ................................................................................................... 34
FIGURE 20:MICROMETER SCREW GAUGE ................................................................................. 34
FIGURE 21:ELECTRIC POWERED STANDING WHEELCHAIR SIZE L ............................................ 35
FIGURE 22:ELECTRIC POWERED STANDING WHEELCHAIR SIZE M ........................................... 36
FIGURE 23:ELECTRIC POWERED STANDING WHEELCHAIR SIZE S............................................. 36
FIGURE 24:13TH DIMENSION LENGTH OF UPPER LEG ............................................................... 38
FIGURE 25:KINEMATIC DIAGRAM ON SIT POSITION .................................................................. 38
FIGURE 26:DETAIL KINEMATIC DIAGRAM ................................................................................ 39
FIGURE 27:STRUCTURE DIAGRAM FROM SITTING TO STANDING POSITION ............................... 40
FIGURE 28:COMPLETED CAD PROCESSES USING SOLID WORK ................................................ 41
FIGURE 29:PART DESCRIPTION FOR FINITE ELEMENT ANALYSIS .............................................. 42
FIGURE 30SEAT FRAME 2D DRAWING: ..................................................................................... 42
FIGURE 31:SEAT FRAME BOTTOM AND SIDE VIEW ................................................................... 43
FIGURE 32BACK FRAME 2D DRAWING ..................................................................................... 43
FIGURE 33:BACK FRAME FRONT AND SIDE VIEW ..................................................................... 44
FIGURE 34:ARM FRAME 2D DRAWING ..................................................................................... 44
FIGURE 35:ARM FRAME TOP AND SIDE VIEW ........................................................................... 45
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FIGURE 36:FINITE ELEMENT ANALYSIS .................................................................................... 46

FIGURE 37:THE MINIMUM FOS DESIGN FROM SOLID WORKS FEA ........................................... 48
FIGURE 38: REFERENCE FOR NORMAL FORCE DIAGRAM .......................................................... 49
FIGURE 39:NFD FOR LOAD CAPACITY ..................................................................................... 49
FIGURE 40:THE IDEAL POSITION FOR LINEAR MOTOR (HYDRAULIC) ........................................ 51
FIGURE 41:EXAMPLE OF AN APPROPRIATE TORSO-TO-THIGH ANGLE......................................... 51
FIGURE 42:SEATING ANGLE DESIGN FOR LUMBAR SUPPORT.................................................... 53
FIGURE 43:FINAL ANGLE WHEN STANDING POSITION .............................................................. 53
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List of Tables
TABLE 4.1: ASSESSMENT .......................................................................................................... 22
TABLE 2: FACTOR OF SAFETY BASED ON THE TYPE OF LOADS .................................................. 46
TABLE 3: FACTOR OF SAFETY SUGGESTED IN DESIGN .............................................................. 47
TABLE 4: OVERVIEW OF CHAIR BACKREST GUIDELINES AND STANDARDS............................... 52
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Chapter 1
INTRODUCTION
In case of disease, injury, old age-related issues, or handicap, the application of a
wheelchair is made in the form of a chair accompanied by wheels. A person having
conditions such as broken legs, spinal cord injuries, brain or neuron diseases, muscular
dystrophy, etc. can get help from wheelchairs. In the current situation, there are more than
700 million people around the globe suffering from these kinds of conditions. Over the
past few years, the elderly population of the globe especially from Asia and Europe are
growing rapidly. Due to these concerns, the scientific community of the world is attracted
to propose and work in this field. Even, several solutions are also proposed by a group of
researchers and industrialists.
Chinese slate inscriptions and Greek vase friezes from the 6th and 5th centuries BCE are
the oldest known examples of wheeled furniture. Three centuries later, in China, the first
wheelbarrows were used to move people and heavy things. In 1995, an anonymous
inventor from Europe developed a prototype of the wheelchair for King Phillips II. Even
though it was a comfortable chair with armrests and leg rests, the design had flaws because
it lacked an efficient propulsion mechanism and hence required assistance to move. A 22-
year-old paraplegic watchmaker named Stephan Farffler created the world's first self-
propelling chair in 1655 utilizing a crank and cogwheel arrangement. Since there were
two hand cranks installed on the front wheel, the gadget looked more like a bicycle than
a wheelchair. Access to the Boardwalk was made possible with the introduction of
wheelchairs (“rolling chairs “), in 1887. People who were in good health soon began to
rent these elaborately decorated “rolling chairs” and hire slaves to push them as a show of
luxury and treatment they would never receive at home. “Subsequently, several different
types of wheelchairs were proposed and manufactured.
This paper deals with the design and development of the standing wheelchair that is fully
mechanized. To operate the wheelchair, the wheelchair is attached to both a fixed frame
and a mobile frame that moves back and forth. On one side, the belt is fixed to the moving
frame and rotates on a pulley on the fixed frame. To convey force, a chain drive is used.
There are numerous materials accessible in the worldwide industry for frame construction,
12
such as steel, aluminum [1], titanium, carbon fiber, and mild steel. Based on the properties
of the materials, mild steel was selected as it was strong in nature along with weighing
less.
For those who have difficulty getting up from their wheelchairs, there is an assistive
technology called the standing frame, which allows users to elevate their chairs from their
seated position to their standing position. As a result of the standing wheelchair also
known as a standing chair, the person may engage with others and surroundings at eye
level. The standing wheelchair is made up of 4 basic parts: seat, base, back, and handrail
(if needed). Like a wheelchair, the base consists of a horizontal board with four chair legs
or four wheels. A hinged seat is attached to the front of the baseboard. The back of the
baseboard is hinged. Two rods protrude from the back-part’s bottom. Rods serve as a shaft
for the handrail part's sleeves. Naturally, the rear component will rotate if the rods are
torqued. The wheelchair's backrest is constructed so that it can be rotated. The gear train
and chain drive are responsible for the backrest's up-down movement. The belts in hands
are used to control the chain drive.
Seating-only wheelchairs are designed to transport disabled individuals. To lift the chair
from the sitting position to the standing position and back, the wheelchair user uses a
standing frame [2], which is assistive technology. In order to improve the quality of life
for disabled individuals, mechanically operated standing wheelchairs have been
developed. Since it is fully mechanically operated, it is socially friendly, easy to use,
reliable, and economical. The design of a standing wheelchair is based on the gear
mechanism, belt drive, and chain drive.
In addition to manual wheelchairs, standing wheelchairs can feature power-driven wheels
with manual raising mechanisms, or be fully powered with hydraulic lifting mechanisms,
for example, hydraulic or other power sources are employed to lift the individual. As a
result of the weight on the legs, several medical professionals are concerned that driving
a standing wheelchair from a standing posture may increase the risk of lengthy bone
fractures. Moreover, in persons with mild to severe disabilities, standing wheelchairs are
utilized by people with spinal cord injuries and traumatic brain injuries, as well as
muscular dystrophies and neurological conditions such as strokes, Rett syndrome, and
others.
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1.1. OBJECTIVES AND PROBLEM STATEMENT

The objective of this thesis is to design an automatic mechanical wheelchair. This
wheelchair helps those who are elder, weak or patients in rehabilitation. The wheelchair
we designed will overcome difficulties as follow. The first is designing structures that can
perform a natural human standing behavior. Next is to determine the energy system that
provides the power to change the form of the wheelchair operational part. Third is to
briefly design the controlling system to monitor the wheelchair’s working. Main
contribution of this thesis is to design a new mechanical structure. The wheelchair can
reform automatically and support the costumer standing up. The standing position fits the
human standing posture. This kind of wheelchair will use less electrical power. Compared
to traditional electrical wheelchair, it can save energy and work stable as well. Components
we used are available in the market.
1.1.1 FEATURES
• The standing wheelchair comes equipped with a range of optional accessories to
enhance user convenience and functionality.
• These accessories cater to diverse needs and preferences, allowing users to customize
their experience according to their lifestyle and activities.
• Common accessories include trays, cup holders, and storage pouches, providing
convenient solutions for carrying personal items and belongings.
• Additional accessories such as oxygen tank holders or IV pole attachments may be
available for users with specific medical requirements.
• The compatibility of these accessories with the wheelchair ensures seamless integration
and usability, enhancing the overall versatility of the product.
• Users have the flexibility to choose and interchange accessories based on their daily
activities and individual preferences, maximizing utility and comfort.
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CHAPTER 2
LITERATURE REVIEW
We searched some related samples on the Internet and publication database, we found that
aid standing wheelchair become more intelligent. Through using standing wheelchair,
disabilities can easily stand up.
Our group started to do research on first edition of standing wheelchair. One of them is
manually operable standing wheelchair, published in 2005 [3], see Figure 1. The
advantage of this kind of wheelchair is simplicity in structure. Position of seat is fixed on
the horizontal plane, but movable in vertical by installing back on a rod. This wheelchair
uses pure mechanical method to aid standing up. We think this method of easiest way to
achieve our goal. Because of the simple structure, this wheelchair has some problem when
it works. The wheelchair is operated manually, which means disabled people must have
strong forearms to force the wheelchair work. If patient is weak in stamina or have
problems in their arms, they cannot operate this kind of wheelchair.
Figure 1: Manually operable standing wheelchair

We found another kind of standing wheelchair is more advanced. this type uses electric
devices, published in 2000 [4], see Figure 2.1 As shown in the figure, there is a control
panel on the armrest in the picture. Disabled people can control it easily by using the panel,
but this wheelchair is highly demand for controlling system. And this kind of wheelchair
15
does not use much mechanical ideas to aid standing. Although it can stand up, it will
consume much energy. Occasionally, if the wheelchair is out of control by panel, it will
be dangerous for the user. Because of complex system, checking and repairing will also
be problematic.
Figure 2: Electrical controlling

We also have the third related work. This type of wheelchair also works with electric
devices, published in 2009 [5], With the development of wheelchair, the comfort of
standing wheelchair becomes more and more essential. Standing wheelchair is not only
used to aid standing, but also aim to make people feel comfortable when standing up.
Obviously,
these two kinds of wheelchair which we mentioned above cannot meet this requirement.
Compared to the second one, the advantage of third wheelchair is when people want to
stand up. First, the wheelchair will make people lying down, and then the wheelchair will
turn to vertical gradually. This will let people have more comfort than former types, but
consumes supplementary energy. This reference reminds us of thinking how to provide
people with natural standing experience and combine electrical and mechanical to save
energy as well (keep balance between comfort and energy consumption). We also have
the third related work [6]. This type of wheelchair also works with electric devices,
published in 2009, see with the development of wheelchair, the comfort of standing
wheelchair becomes more and more essential. Standing wheelchair is not only used to aid
16
standing, but also aim to make people feel comfortable when standing up. Obviously,
these two kinds of wheelchair which we mentioned above cannot meet this requirement.
Compared to the second one, the advantage of third wheelchair is when people want to
stand up. First, the wheelchair will make people lying down, see, and then the wheelchair
will turn to vertical gradually. This will let people have more comfort than former types,
but consumes supplementary energy [5]. This reference reminds us of thinking how to
provide people with natural standing experience and combine electrical
17
CHAPTER #3
SOLUTION
3.1 Different solutions
3.1.2 Standing wheelchair using the principle of folding chairs
To help patients stand up, rotating the seat up so as to push up is the easiest and widely
used solution. It is noticed that rotatable seat is very commonly applied to one kind of
chair in our daily life. That is the very folding chair. But most of the folding chairs rotate
on the inverse direction and its legs will get closed while folding the seat. So, reversing
the direction became the problem to solve and the solution is as followed. This standing
chair consists of four main parts including the base, seat, back and handrail. The base is a
horizontal board with four chair legs or four wheels if used as wheel chair. The seat is
hinged at the front of the base board, so that the seat part can be rotated on the base. The
back is hinged at the rear of base board. There are two rods extend from the bottom of the
back part. Rods are working as a shaft of the sleeves of the handrail part. Obviously, the
back part will rotate if torque applied on the rods. The handrails are hinged at both side of
the base. One side of the handrail is a half-circle which is easier for pushing. On the other
side, a sleeve is installed. These sleeves are assembled to fit the rods of the back part. To
perform a standing motion [7], it has several steps. First, push the handrail forward. The
sleeve will rotate conversely and drive the rods of the back rotate. The back rotates and
pushes up the seat. Seat slide on the surface of the back. The motion of the seat and the
back will fit the standing behavior.
3.1.2 Standing wheelchair using hydraulic control system

Compared with other ordinary mechanic structural control standing wheelchair, the key
word has been changed from “push” to “support”. If the wheelchair was so designed that
the chair pushes the patients up, then the gravity will always be the obstacles to overcome.
One way to make gravity our friends instead of foes is to create a new concept which
different moving the central gravity point up to make patients stand up. So, this solution
was to make the seat rotate down slowly so as to put patient’s foot on the ground and they
can stand naturally. By doing so, we need only to consider about how to lift the patient’s
18
upper body up. Lifting up things vertical is much simpler. What's more, the gravity would
be the power supply to work the whole system. It is also much easier to restore the
wheelchair to sitting condition because after the patients stand up all we need to lift up is
the weight of the seat which is not too much contrasted to human's weight. The main part
of this solution is the damping system, see Figure 5. It decreases the speed of patient to
get down with the seat. So, it may have two properties. First, control the speed of flow in
a certain interval. Second, this damp only happens in the working process. No resistance
in the restore process.
3.1.3 Standing wheelchair using parallelogram

During the research about the related work of standing wheelchair, it is found that lots of
wheelchair published online paid much attention on the motion of the back. In the sitting
position, it is 90° between the seat and back or maybe a little bit larger than that to make
patient sit more comfortably. But in the process of standing, the back cannot be always
perpendicular to the seat. It needs to, at least at final standing position, be vertical and then
the patients can stand up. To solve this problem, variety of solution has been designed,
like a series of connecting rods and electrical control the back. There is a simpler structure
to solve this by using the parallelogram. The main seating portion is a parallelogram with
hinges at each vertex. So, this structure is deformable. Compression springs are installed
at two nonadjacent vertices those springs will provide the power to reform the
parallelogram. The front vertical side of the parallelogram [8] is fixed on the skeleton.
According to the property of parallelogram, the opposite side will be lifted due to spring
force see figure 6. With the horizontal rod sloped positively, the seat and the movement
during reformation fit the way that human stand up. When the patient wants to stand up,
push the armrest at both sides. Button will be turned on. At the beginning, the center of
gravity is at the back of seat. Chair back will rotate forward by human force. The center
of gravity will also move forward. The weight cannot suppress the seat any more. And the
main seating portion reforms to fit the standing process.
19
Chapter#4
COMPARISON AND RESULTS
4.1 Comparison
4.1.1 Folding chair principle
The structure of this wheel chair required higher precision. Because, the seat is
cooperative to the back and they will rotate correspondingly. The rod extended from the
handrail must be determined carefully to prevent conflict. The sleeve out of the shaft is
slide on it, higher surface property is essential. Otherwise, too big friction will consume
considerable power. The power supply is designed as using the arm strength from the
patient. This force needs to lift the entire body weight and work the seat-back rotation.
Work against the friction from the sleeve and shaft, the joint of the seat and back. A certain
amount of force is demanded. But we need to put the fact in to consideration that the
disable people are more used to push the wheel and the strength is stronger than normal
people. Due to the special design, it is more suitable for the light disabled patient whose
upper body is intact. Those who are a highly disabled cannot operate this wheelchair,
while highly disabled people cannot even stand up though. And the extended rod from the
handrail need a large space under the seat, which means this type of wheelchair can only
be design separately. To produce this type of wheelchair, the cost will not be much. It is
drove totally by the mechanic structure using human strength. So, it will not have power
cost. And all the cost of the wheelchair is material and assembles. The force is provided
by the patient itself, so they can control the speed of the rotation of the seat. It is easier for
them to keep balance. But, with the same reason, put a damping system will be unwise,
because it will cause large power consumed by the damp.
4.1.2 Hydraulic controlling wheelchair
The frame of the chair part is a simple task. A normal wheelchair uses a rotatable seat.
The hydraulic part is the main design. The result of the survey shows that the hydraulic
valve can be made very small, approximately within ten centimeters. In this system a tank
will be inevitable. The [2] bulk and weight can be a problem for the structure. In general,
the structure is not so complex, because the complex part can be sorted in a hydraulic box
20
contained all the valves, tank and oil pump if needed. The power consumption is the
essence of this type of wheel chair. As it was mentioned above, the power supply will be
the patient's weight itself. And after the patient stand up, the seat will be easy to lift restore
the sitting condition from standing position. Neither motor nor human strength is needed.
It will be the best power save type of wheel chair. This type of wheelchair can be applied
to any patient theoretically, if the
patient can stand, he or she can use this wheelchair. But it has only one exception. For
those who is tall in their height, the chair needs to adjust the seat according to the
movement of the central gravity point. With a normal cost of the normal chair, the
hydraulic system will be an extra cost. In the survey, a good valve produced by a good
company can cost a lot. A better valve can make the flow of oil smoother and within
smaller leak and higher precision. In our wheelchair application, the system is not so
delicate. So, we can choose cheaper parts to strike the balance or depending on the
patient's economic situation. This wheel chair has not very complex frame. So, it will not
have big danger of mechanical problem or other risk of fall down. All the motion, actually
the only motion, is the rotation of the seat. A safety switch will be installed on it, only
with the trigger opened then the wheelchair can be activated. What's more, with a better
valve the performance of the wheel chair will be more stable.
4.1.3 Wheel chair with parallelogram
The main part of this wheelchair is exactly the same as all other normal wheelchair. The
only difference is a parallelogram structure [8] instead of the normal seat. The
parallelogram seat can be made very thin as well. So, the overview of this wheelchair will
not be different form the ordinary one. As a matter of fact, the parallelogram seat part can
be produced separately and installed on a normal wheelchair. Using this type of standing
wheelchair, we need to lift up not only the human body but the parallelogram seat. This
part will move with you so as to support you stand up. The force required is litter bit larger
than the first type of wheelchair using folding chair principle. According to the geometric
property of the parallelogram, we can put several springs between those no adjoined
vertices of the parallelogram. Those springs can Provide the Compression power Between
two vertices. With the distance decrease, the parallelogram will transform from a square
21
to a sharp quadrilateral. The force of springs Can be Set arbitrary large. Theoretically, so
large that no more other power is needed to support the weight of both the human body
and the parallelogram.
The main part of the parallelogram can be produced separately. So that this wheelchair
can be installed to any chair or wheelchair which is standard dimensions. It cannot be
installed on any type of chair because the different size and fancy style nowadays. Since
the standing process is natural and not required strong arm strength. Any patient can use
this type of wheelchair without exception. The produce cost of this wheelchair is close to
the normal wheelchair if the motor is not considered. The main frame of the chair body is
purely mechanic. And slide friction is not much so the surface property is not demand.
Even the motor is set on the system, due to the springs on the parallelogram, a small motor
provided the slight torque can drive the whole system. So, the produce will be higher but
still in reasonable range. If the motor is not used than the power supply will be laid on the
spring.
The spring cannot control the speed of the motion. So, if any mechanic problem occurred,
the patient may be lifted in a fast speed. It will make the patient fell down. This is the
problem need to avoid by using springs. A switch and the personalized springs design can
solve this problem.
4.2. Results
Type Complexity Power Applicability Economy Safety Total
consumption
1 Folding wheel chair 8 6 8 9 6 37
2 Hydraulic 7 8 6 6 8 35
Controlling
3 Parallelogram 8 9 9 8 7 41
Table 4.1: Assessment
22
4.3. Design of the best solution

The main seating portion is a parallelogram hinged at each vertex. So, this structure is
transformable. Extension springs are installed at two non-adjacent vertices. Those springs
can provide the power to transform the parallelogram. The front vertical side of the
parallelogram is fixed on the base. According to the geometry property of parallelogram,
the opposite side will be lifted. With the horizontal rod sloped, the seat and the movement
during transformation fit the way that human stand up. The armrest has two functions; the
first is to make people stand easier and safer. Support from the armrest can compensate
the weakness in legs. Secondly, push the armrest to create the power to rotate the back.
When stand up, push the armrest at both sides. At the beginning, the center of gravity is
at the back of seat. Chair back will rotate forward by human force. The center of gravity
will also move forward. The weight cannot suppress the seat any more. And the main
seating portion transforms to fit the standing process. See it in Figure 4.1.
Figure 3:wheelchair Main view of final modelling
23
4.4 The flowchart of wheelchair

Next, a flowchart about how our wheelchair works was made, see Figure 4.2
Sit on Chair
Check safety Belts
Active trigger
Press Button
Signal to MCS
Standing up
process
Lifting Up
Reach 60o Hydraulic keep static
Press Button
Siting back
process Signal to MCS
Reduce Down
Figure 4:wheelchair Main view of final modelling
24
4.5 Modeling
According to our modeling, the wheelchair can be separated into 3 parts, including back
support (top), transformable parallelogram (middle) and base (bottom). Each component
plays a single function.
4.5.1 Back support (top)
This is the model of top part, see Figure 4.3
Figure 5:Assembly drawing of top part in wheelchair
The back support is a rotatable board located on the back of the chair. Research shows
that when people want to stand up, the first action will be to bend his or her back forward.
This behavior is to move the center of gravity ahead so that our legs can support our whole
body up, otherwise the force from legs can only generate the moment make us fall over
backwards. And it becomes the natural action to stand up. Handicapped people do not
have strong enough leg strength. They use other support. A more natural way is designed
to make standing more comfortable. So, this board designed will follow the upper body
go forward or backward. It is embedding in the chair back. In order to fix the body on the
backboard, a belt will be tied across the chest. See Figure 4.4.
25
Figure 4: Schematic diagram of how does the back-support work
To bring a most comfortable standing experience for the consumers, a research was
conducted to find out the accurate angle to stand up naturally. A video of a normal person
standing up was recorded, and selected the most representative moment to determine the
angle. See Figure 4.5
.
Figure 6:Determine the angle when person start to stand up
It shows that 15° is the proper answer. So we design the rotate board at angle 15°. And at
first the back will bend forward, after you stand up, your back will turn back to vertical.
See in Figure 4.6
26
Figure 7:The angle of final standing position
An elastic belt was connected the back rest with the base. When the seat lifts up, the
Backboard will be pulled back by the elastic belt. The backboard will be designed in
proper shape to meet the need of easing the stress on one’s back caused by pressure on
lumbar, see Figure 4.7.
Figure 8:Schematic diagram of how its work
4.5.2 Transformable parallelogram (middle)

This is the model of the middle part, see Figure 4.8.
By using this mechanism, the back of the chair is always vertical. A rotatable backboard
keep the back always move with the body. See Figure 4.9.
27
Figure 9: Assembly drawing of middle part in wheelchair
Figure 10:The demonstration of the parallelogram

Next is the demonstration of the process from sitting to standing. Throughout the process,
the spring will have a moment M on the parallelogram. The strength of the spring is
adjustable, so that we can get different moments. When we keep sitting on the seat, first,
the center of gravity is at the back. The arm of force is 1.1 m including backboard. Next,
to stand up, we will bend our back, the chair back rotates forward correspondently. The
center of gravity moves forward. The arm of force is shortened. Since different people
have different weight and strength, the springs must be adjustable to meet different needs.
And for patient in rehabilitation, adjustable support can approach their different training
stages. For those who are totally disabled, the spring’s force has to be arranged by his or
28
her weight. See Figure 4.10. So that when the patient wants to stand and bend his or her
back, the wheelchair will activate to support their standing.
Figure 11: The change of the center of gravity when person want to standup
4.5.3 Base (bottom)

This is the modeling of bottom part, see Figure 4.11
The bottom is designed in view of the traditional wheelchair. Size of back wheels is larger
than front wheels, which aims to keep more weight at the back for keeping balance, when
forming a standing up process. A skeleton will be added to the base in view of original
edition of wheelchair for a larger space and more developing potential in the upcoming
designs.
Figure 12:Assembly drawing of bottom part in wheelchair
29
CHAPTER #5
CONTROLLING SYSTEM
Our aim is to design a system to control the movement of hydraulics forward, reverse and
stop. By controlling hydraulics driver, we can make the wheelchair up or down. We use
different components.
5.1 Control buttons

With the help of toggle switch for controlling the moment of hydraulics control forward
and backward motion in the wheel chair
Figure 13: Control buttons
To accomplish this system, we need not only mechanical parts, but also electric
controlling parts. The electric controlling parts include the controller, hydraulics drive,
hydraulics, power supply system and etc.
In our opinion, first we insert program into controller. When we press the controlling
button, the program in controller will give signal to hydraulics drive, then the hydraulics
drive receives the signal, hydraulics driver will control the working of hydraulics
according to our need, and the power supply provide the power of motor to make sure that
the motor has enough energy to work. Through these equipment’s, we can easily control
the state of hydraulics.
30
5.2 Hydraulics driver selection

Hydraulics driver our choice is DQ860MA [9] which is brushless DC motor drivers that
can be used for both positioning and velocity control applications. When it receives a
pulse signal, it will drive the stepper motor to rotate a fixed angle. It rotates step by step;
each step is a fixed angle. By controlling the number of pulses controls angular
displacement, also by controlling the frequency of pulses controls motor’s speed and
acceleration.
Figure 14:DQ860MA driver
5.3 Power supply selection

We choose Two Long dry Batteries as Power Supply [10], it is high efficiency, high
reliability. It has over current, over voltage, short circuit and overheats protections. It uses
PWM control and regulation, ensure the steady and precise output voltage. The output
voltage is 24V and the rated current is 5A+.
Figure 15:Dry Battery
31
CHAPTER#6
RESEARCH METHOD
6.1 Schematic of the Research
The research of this final project consists of many steps that will be done as seen in Figure
6.1.
Figure 16:Flowchart of the Research
32
6.2 EQUIPMENT IN DESIGNING

6.2.1 Software CAD
CAD software as seen in Figure 23 used in designing this wheelchair is Solid works 2016.
Solid works use to create the part, there are main frame, seat frame, back frame, foot
holder, foot connector, and frame connector. It is also use to assembly and analyze the
component.
Figure 17:Solid works 2016
6.3 Measuring instrument:

The measuring instrument used in the design process are:
6.3.1 Roller:
Figure 18:Roller
33
6.3.2 Vernier Caliper:
Figure 19:Vernier Caliper
6.3.3 Micrometer Screw Gauge:
Figure 20:Micrometer Screw Gauge
34
Chapter #7
Design Concept:
7.1 Problem Identification:

On this research, the first step that must be done is determining the problem of design
concept of the mechanism and movement system that is going to be designed [11]. Before
determined the mechanism and moving system, we identified the dimensions of the
existing wheelchair as seen in Figure 7.1, Figure 7.2, and Figure 7.3. After that we
compare the measured dimensions with Indonesian society anthropometry data to be
adjusted to the electric powered standing wheelchair that will be designed. The results can
be seen in the Table 7-1.
Figure 21:Electric Powered Standing Wheelchair Size L
35
Figure 22:Electric Powered Standing Wheelchair Size M
Figure 23:Electric Powered Standing Wheelchair Size S
36
We compared the data from size L of the existing electric powered standing wheelchair
because the value of size L is closer to the percentile of the average Indonesian society
than the other size. The identification is including all the dimension specification for the
standing mechanism of electric standing wheelchair. The 50th percentile data are used to
calculate the kinematics and dynamics for mechanism, because the 50th percentile data is
the biggest quantity of human body dimension.
7.2 Criteria of Design:

After identified the dimensions of the electric powered standing wheelchair that will be
design, we are describing the criteria of the modification. The modification that is done is
based on the problem that the existing electric powered standing wheelchair design. Size
of the design is not in accordance with the anthropometry of Indonesian society as shown
in Table 3-1. The Description for the modification criteria of the electric powered standing
wheelchair that must be achieved in the design are:
1. The standing mechanism system based on linear hydraulics movement system.
Therefore, the expansion distance and minimum strength of linear hydraulics for standing
position must be determined based on the kinematic diagram from degree of freedom
calculation and static structural analysis
2. To facilitate the production process, the size of the frame must be in accordance with
the existing standard material size.
3. The Factor of Safety must be able to adjust with the average weight of Society.
7.3 Mechanical Design and Kinematic Analysis:

The main focused for kinematics and mechanism calculation on the anthropometry of
Indonesian people data is in 13th dimension. That is the length of upper leg while seating,
for more detail can be seen in Figure 7.4. It is becoming the focus point because the 13th
percentile data relates to the seat frame size, and it will be used as a center of gravity while
loading the structure.
37
Figure
Figure24:13th
7.4: 13thDimension
DimensionLength
LengthofofUpper
UpperLeg
Leg
The length of upper leg of Indonesian people while seating is used for calculation the
structure and mechanism of electric standing wheelchair by using kinematic sand static
structural analysis.
The existing electric standing wheelchair that already created by Maneetham from
Thailand is used to be a reference for calculating. The kinematics diagram while seating
can be seen in Figure 7.4.
Figure 25:Kinematic Diagram on Sit Position

The mechanical structure of the electric standing wheelchair, seat, backrest, main frame
connector, leg support and footrest are simplified as linkages which are connected as
hinges in Figure 7.5. The linear motor for standing can achieve posture change from
38
sitting to standing respectively. This is not only simplified the structure, but also is
beneficial for the design of the control system.
In addition, when considering safety in posture change, leg support is added beside the
footrest to make sure the center of gravity will not shift too much when its form to the
standing position
.
Figure 26:Detail Kinematic Diagram
In the process of posture change from sitting to standing [3], the linear motor expanding
is locked as a linkage. The linear motor for standing is the driving link, and the whole
structure can be seen as composed of 7 moving parts, 9 lower pairs, and 2 higher pairs.
The DOF (Degree of Freedom) can be calculated according to the DOF formula as Eq.
(3.1)
𝑫𝑶𝑭 = 𝟑𝒏 (𝟐𝑷𝒍 + 𝑷𝒉) = 𝟑 × 𝟕 (𝟐 × 𝟗 + 𝟐) = 𝟏 (𝟑. 𝟏)
In the equation above, 𝑛 represents the number of moving parts, 𝑃𝑙 represents the number
of lower pairs and 𝑃h represents the number of higher pairs. In this structure, a, b, e and
g are fixed points on the wheelchair frame, and c, d, h, i constitute a parallelogram
mechanism and f is the lifting point from linear motor. Its moving principle is as follows:
the linear motor for standing in f point drives and forms an angle of 60o to the horizontal
line as seen in Figure 7.6.
39
The distance from linear motor lifting point to g fixed point is 180mm, and we can
calculate the maximum distance from the movement of linear motor to form a standing
position according to angle shift formula as Eq. (3.2).
𝛥𝑠 = 𝛥𝜃 × 𝑟 = 1.047𝑟𝑎𝑑 × 180𝑚𝑚 = 188.4𝑚𝑚 (𝟑. 𝟐)
Figure 27:Structure Diagram from Sitting to Standing Position

The maximum distance of the linear motor when expanding ranges from 180mm-190mm
with an initial angle 60° from the horizontal line.
40
CHAPTER 8
RESULT AND ANALYSIS
8.1 Design Result
In the proposed mechanical design, the basic structure has been determined by building and
solving mathematical models on kinematics mechanism. We defined the Degree of Freedom
(DoF) to make sure the linear actuator that we used to form the standing position is just one,
that is linear motor. The maximum expanding linear actuator to form the standing position is
190mm with an initial angle 60° from the horizontal line. This is for ideal position of the linear
motor to maintain a stable center of gravity assuring the security and stability of the posture
change structure. During the design process carried out using CAD software Solid work as
shown in Figure 8.1.
Figure 28:Completed CAD Processes Using Solid work

In this electric powered standing wheelchair design, the main component is in the frame.
As shown in Figure 8.2, there are 11 parts that will be used for Finite Element Analysis.
41
Figure 29:Part Description for Finite Element Analysis
8.1.1 Seat Frame:

The dimension of the seat frame can be seen in Figure 8.3 and Figure 8.4. The structure
dimensions created based on the anthropometry of Pakistan Society and square tube
material standard.
Figure 30Seat Frame 2D Drawing:
42
Figure 31:Seat Frame Bottom and Side View
8.1.2 Back Frame:

Design of back frame used schedule pipe material standard, the structure size created
based on Anthropometry, Figure 8.5 and Figure 8.6.
Figure 32Back Frame 2D Drawing
43
Figure 33:Back Frame Front and Side View
8.1.3 Arm Frame:
Figure 34:Arm Frame 2D Drawing
44
Figure 35:Arm Frame Top and Side View
8.2 Analysis and Discussion:

8.2.1 Finite Element Analysis:
The analysis that has been done in this research is Finite Element Analysis (FEA) for static
load. The main point of the FEA in Solid works is the von Misses stress analysis because
the von Mises stress is used to redact yielding of materials under any loading condition
from results of simple uniaxial tensile tests (Mises, 1913). In 1924 offered a physical
interpretation of von Mises criterion suggesting that yielding begins when the elastic
energy of distortion reaches a critical value (Hencky, 1924). For this reason, the von Mises
criterion is also known as the maximum distortion strain energy criterion.
45
Figure 36:Finite Element Analysis

As the force push the surface of the seat frame down, in Figure 8.9 can be seen the area
that got the most critical contact is on the linear motor support. The red zone shows the
largest von Misses in the structure that is in the linear motor support. The value of the max
von Mises is 135 MPa. The material for this analysis is ASTM A36 Steel with yield
strength 250 MPa.
No. FoS Type of Loads

1 1.25-2 Static load
2 2-3 Dynamic Load
3. 3-4.5 Shock Load
Table 2: Factor of Safety based on the Type of Loads
46
No. FoS Parameter/Uncertainty Condition

1 1.0-1.5 Controlled conditions and working stress can be
determined with certainty.
2 1.5-2.0 Known material, fixed load and stress environmental
conditions can be determined easily
3 2.0-2.5 Materials that operate on an average basis with limits
on known loads.
4 2.5-3.0 Known materials without undergoing the test. under
load and average stress conditions.
5 3.0-4.5 uncertain load, stress and environmental conditions.
6 Repetitive Load: the numbers suggested above can be used but with the
endurance limit as "significant strength"
7 Impact Load: the numbers suggested above can be used but impact factors
must be included
8 brittle material: the numbers suggested above are multiplied by two for
brittle material, where the safety factor is calculated against ultimate
strength
Table 3: Factor of Safety Suggested in Design
Factor of Safety (FoS) are factors that are used to evaluate the structure and design of
machine elements so that their safety is guaranteed with minimum dimensions. Generally,
the Factor of Safety can be calculated based on the formula as Eq ( 4.1 ).
𝒀𝒔
𝑭𝒐𝑺 = >𝟏 (𝟒. 𝟏)
𝑫𝒔
𝑌𝑠 as Yield Strength and 𝐷𝑠 as Design Stress/Actual Stress. Based on the Table 3 and
Table 4, value the Factor of Safety (FoS) used in this electric standing wheelchair should
be 1.5. Because the load can be determined based on the body weight of Indonesian
people, and the type of loading uses static load on the seat frames.
47
Because the components are consisting of many parts. FoS can be calculated by the
computer with Solid works Finite Element Analysis. The value of external static load that
we used in Solid works FEA is 1500N, which is 1.5 times of 100kg and multiplied by the
gravity of earth (10m/s2). 100kg is the maximum assumption based on the body weight of
Indonesian People that might be occur when loading on the electric standing wheelchair
frame. Figure 8.10 shows the minimum FoS from this electric powered standing
wheelchair design is 1.8. Because the FoS design is greater than 1.5 this structure is totally
safe.
Figure 37:The Minimum FoS Design from Solid works FEA
8.2.2 Static Structural Analysis for Linear Motor

The minimum load capacity of a linear motor can be determined based on the kinematics
diagram and the weight tested at the time of finite element analysis. The statically load
that has been used at the time of testing is 1500N, which assumes of the Indonesian
people's body weight that will occur in actual. The normal force diagram we can created
from the design that has been done as seen in Figure 8.11 and Figure 8.12.
48
Figure 38: Reference for Normal Force Diagram
Figure 39:NFD for Load Capacity
49
The minimum required of linear motor load capacity can be found through the equation
below:
𝛴𝐹𝑦 = 0
𝛴𝐹𝑦 = 𝑅𝑏𝑦 + 𝑅𝑐𝑦 − 1500𝑁
1500𝑁 = 𝑅𝑏𝑦 + 𝑅𝑐𝑦
𝛴𝑀𝑐 = 0
0 = 𝑅𝑏𝑦(18 × 10−2 𝑚) − 1500(25 × 10−2 𝑚)
0 = 18𝑅𝑏𝑦 − 375
375
𝑅𝑏𝑦 = 1500N = 2083.3N +
0.18
Rcy
𝑅𝑏𝑦 = 2083.3 𝑁 𝑅𝑐𝑦 = −583.3𝑁
𝑅𝑏𝑦 = 𝐹𝑠𝑖𝑛60𝑜
2083.3𝑁 = 𝐹 × 0.866
𝐹 = 2405𝑁
Based on calculations above, the minimum strength of the linear motor to perform an ideal
standing position with the 1500N load and initial angle 60o is 2405N.
8.2.3 Discussion:
In the proposed mechanical design, the basic structure has been determined by building
and solving mathematical models on kinematics mechanism. We defined the Degree of
Freedom (DoF) to make sure the linear actuator that we used to form the standing position
is just one, that is linear motor. The maximum expanding linear actuator to form the
standing position is
190mm with an initial angle 60o from the horizontal line. This is for ideal position of the
linear motor to maintain a stable center of gravity assuring the security and stability of the
posture change structure. The minimum required linear motor strength to lift up the load
is 2405N, this is calculated using the concept of structural statistic based on the electric
powered standing wheelchair design.
50
Figure 40:The Ideal Position for Linear Motor (hydraulic)

Based on kinematics and dynamics calculation above, we can determine the ideal position
for linear motor in the design as shown in Figure 8.13.
The angle of the lumbar support can be determined based on the Thirsting angle in Figure
8.14 and Table 5.
Figure 41:Example of an appropriate torso-to-thigh angle
51
Table 4: Overview of Chair Backrest Guidelines and Standards

The purpose of the lumbar support in the chair is to provide support to the lumbar
curvature of the spine and minimize back strain during sitting. The amount of lumbar
support is dependent on a multitude of factors such as gender, age, and body mass. An
increased lumbar curvature (increased lordosis) is found in females (versus males)
52
suggesting females will often need a more prominent lumbar support in chairs (Miller,
2013). A torso-to-thigh angle should be range of =15°, at least 15° falls between 90°-120°
as seen in Figure 815. Any angle smaller has been shown to increase loading on the
structures of the spine, the muscles of the back, and pressure on the thighs. Appropriate
torso to thigh angles as well as a properly fitted lumbar support are essential to decrease
the stress on a user’s spine
Figure 42:Seating Angle Design for Lumbar Support
Figure 43:Final Angle when Standing Position
53
CONCLUSION
Based on the design and results of the finite element analysis from electric powered
standing wheelchair design, it can be concluded that:
1. The design has been done based on dimension anthropometry of Pakistani people.
2. The electric powered standing wheelchair design derived by 1 power source (DoF=1)
to achieve a simple lifting and standing motion functions with minimum linear motor load
capacity 2405 N.
3. The design and calculation for the structural and mechanism of electric powered
standing wheelchair go well with the results of the FEA. The critical point of the structure
has been proven to be safe according to the Factor of Safety results (1.8>1.5).
4. Compared to existing electric powered standing wheelchair design, the improvisation
of the design that has been made are:
a. The ideal position, minimum powered and expanding distance for linear motor position
are determined. The maximum distance of the linear motor when expanding ranges from
180mm-190mm with an initial angle 60o from the horizontal line.
b. It used standard material dimension for the structure and mechanism, so it will be easy
to production on a small workshop.
Recommendation:
In this research, there are still some flaws in the process and there are short comings and
possible step to do in this research further in the future, such as:
1. Creating a prototype of the electric powered standing wheelchair accordance to the
design that has been done.
2. Define the automatic control system based on the result of structure mechanism.
3. Future research/design can be made for the multi posture function such as lying position
or change the system to be more suitable and comfortable for disabled people. Because
there are many existing electric powered standing wheelchair designs and this research is
just one of them.
54
References
[1] "“6061 aluminium alloy," no. . 28-Apr-2014, pp. Wikipedia, the free encyclopedia.
[2] AZMI, M. H. B., NIZAM, H. A. B. M., & ABIDIN, M. M. F. B. Z., "HYDRAULIC

WHEELCHAIR FOR BEDRIDDEN PATIENT.," no. 2022, 2022.
[3] T. A. Kuiken, “Manually operable standing wheelchair,, WA111-Nov-2004..
[4] Tao, Weijun, Junyi Xu, and Tao Liu, "Electric-powered wheelchair with stair-climbing
ability," International Journal of Advanced Robotic Systems, 2017.
[5] G. J. Arva, "“Dual-Purpose Wheelchair Mechanism Designs," no. 28 April 2014.
[6] Suryanto, M. F. I., Badriawan, N. A., Ningrum, E. S., Binugroho, E. H., & Satria, N. F.,
" International Electronics Symposium on Engineering Technology and Applications,"
pp. 43-47, 2018.
[7] S. Alhadi, "Design optimization and structural analysis of electric powered standing
wheelchair using linear motor movement systems for disabled people," 2018.
[8] Xu, Y., Luo, Z., Shang, J., Wei, G., Zhu, Y., & Bai, X., "Design and analysis of a
concentrated-driven bionic-leg capable of omnidirectional legged locomotion based on
3-Dimensional dual-parallelogram-linkages.," Proceedings of the Institution of
Mechanical Engineers, Part C:, no. 2024, 2024.
[9] "“Stepper Motor Driver DQ860MA," “Stepper Motor Driver DQ860MA, no. 21 May
2014.
[10] "Power Supply," no. Alibaba.com, 21 May 2014.
[11] S. Goemaere, M. V. Laere, P. D. Neve, and J. M. Kaufman, "“RESNA do not perform

standing," Assist. Technol, p. 138, May 1994.
[12] G. P. M. L. J. L. M. S. B. D. J. Arva, "RESNA Position on the Application of standing

Device," Assist. Technol., vol. 3, no. 2009, p. 21, 2024.
[13] "“Prosthetic apparatus for supporting a user in sitting or standing," no. 28 April 2014.
55
Appendix 1:
The drawings of main components
Scale 1:6 Drawn BY Mamoon

Unit of measure mm Information
Date: 01-04-2016 Examined BY Mr. Asim
Sitting Frame No. 1 A4
56
Scale 1:6 Drawn BY :Bilal

Power size mm Information
Back Frame No. 2 A4
57

Leg Frame No. 3 A3
58
Scale 1:6 Drawn BY Ahmad

Main Frame No. 4 A4
59

Aram Frame No. 5 A4
60

Frame Connector No. 6 A4
61

Foot Connector No. 7 A4
62

Frame Assembly No. 8 A4
63
Appendix 2: The Final Model
64
65
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DVELPMENT OF STANDING WHEELCHAIR

Muhammad Wisal Khan

Mamoon Rashid 70113690

M Ahmad Khan 70112896

Shafqat Shahbaz 70111548

Department of Electronics and Electrical System

Title: Development of Standing wheel chair

70112787 M. Bilal 0315-7722595 70112787@student.uol.edu.pk

Mr. Asim Maqsood

Mr. Muhammad Wisal Khan

Remark by Head, Department of Electronics and Electrical System

Dr. Syed Baqar Hussain

5.2 HYDRAULICS DRIVER SELECTION ................................................................................ 31

FIGURE 36:FINITE ELEMENT ANALYSIS .................................................................................... 46

1.1. OBJECTIVES AND PROBLEM STATEMENT

Figure 1: Manually operable standing wheelchair

Figure 2: Electrical controlling

3.1.2 Standing wheelchair using hydraulic control system

3.1.3 Standing wheelchair using parallelogram

Table 4.1: Assessment

4.3. Design of the best solution

Figure 3:wheelchair Main view of final modelling

4.4 The flowchart of wheelchair

Check safety Belts

Reach 60o Hydraulic keep static

Figure 4:wheelchair Main view of final modelling

Figure 5:Assembly drawing of top part in wheelchair

Figure 4: Schematic diagram of how does the back-support work

Figure 6:Determine the angle when person start to stand up

Figure 7:The angle of final standing position

Figure 8:Schematic diagram of how its work

4.5.2 Transformable parallelogram (middle)

Figure 9: Assembly drawing of middle part in wheelchair

Figure 10:The demonstration of the parallelogram

4.5.3 Base (bottom)

Figure 12:Assembly drawing of bottom part in wheelchair

5.1 Control buttons

Figure 13: Control buttons

5.2 Hydraulics driver selection

Figure 14:DQ860MA driver

5.3 Power supply selection

Figure 15:Dry Battery

Figure 16:Flowchart of the Research

6.2 EQUIPMENT IN DESIGNING

Figure 17:Solid works 2016

6.3 Measuring instrument:

6.3.2 Vernier Caliper:

Figure 19:Vernier Caliper

6.3.3 Micrometer Screw Gauge:

Figure 20:Micrometer Screw Gauge

7.1 Problem Identification:

Figure 21:Electric Powered Standing Wheelchair Size L

Figure 22:Electric Powered Standing Wheelchair Size M

Figure 23:Electric Powered Standing Wheelchair Size S

7.2 Criteria of Design:

7.3 Mechanical Design and Kinematic Analysis:

Figure 25:Kinematic Diagram on Sit Position

Figure 27:Structure Diagram from Sitting to Standing Position

Figure 28:Completed CAD Processes Using Solid work

Figure 29:Part Description for Finite Element Analysis

8.1.1 Seat Frame:

Figure 30Seat Frame 2D Drawing:

Figure 31:Seat Frame Bottom and Side View

8.1.2 Back Frame: