A

SEMINAR REPORT
ON

“STAIR CLIMBING WHEEL CHAIR”

SUBMITTED BY
YASHWANT JANRAOJI POKALE

FINAL YEAR
(MECHANICAL ENGINEERING)N

GUIDED BY

PROF. D. V. ASTONKAR
ASSISTANT PROFESSOR
(MECHANICAL ENGINEERING DEPARTMENT)N

DEPARTMENT OF MECHANICAL ENGINEERING

DR. SAU. KAMALTAI GAWAI INSTITUTE OF ENGINEERING &

TECHNOLOGY
DARAPUR -444814, TAQ. –DARYAPUR, DIST. –AMRAVATI (M.S.)

2021-22
 CERTIFICATE
This is to certify that the Seminar entitled

“STAIR CLIMBING WHEEL CHAIR MECHANISM”

Submitted by
YASHWANT JANRAOJI POKALE
in a satisfactory manner under my Guidance.
This Seminar is Submitted in the partial fulfillment for the
DEGREE OF BACHELOR OF ENGINEERING
in

MECHANICAL ENGINEERING
During Academic Year 2020-21

AWARDED BY-

SANT GADGE BABA

AMRAVATI UNIVERSITY, AMRAVATI

PROF. D. [Link] DR. S. T. WARGHAT

ASSISTANT PROFESSOR HEAD OF DEPARTMENT

DEPARTMENT OF MECHANICAL ENGINEERING

DR. SAU. KAMALTAI GAWAI INSTITUTE OF ENGINEERING &

TECHNOLOGY
DARAPUR -444814, TAQ. –DARYAPUR, DIST. –AMRAVATI (M.S.)
 ACKNOWLEDGEMENT

I avail this opportunity to express my deep sense of gratitude and whole hearted
thanks to my guide PROF. D. V. ASTONKAR for his valuable guidance during the
Seminar work. I have no words to express my sincere thanks for valuable guidance,
inspiration and affectionate encouragement to embark this seminar.

I also acknowledge my overwhelming gratitude and immense respect to our

H. O. D. (Mechanical Engineering Dept.), DR. S. T. WARGHAT and sincere
thanks to our Principal, DR. S. T. WARGHAT who inspired me a lot to achieve the
highest goal.

Also, I would like to thanks all the Teaching, Non- Teaching staff members of
Department and my colleagues, who helped me directly or indirectly for
completing of this Seminar successfully.

MR. YASHWANT JANRAOJI POKALE

BATCH -C
FINAL YEAR
MECHANICAL ENGINEERING
 ABSTRACT

One of the basic problems of user on manual wheelchair is overcoming architectural

barriers(kerbs, stairs etc.) on its way. Even though many research studies have been
reported in different fields to increase the independence of wheelchair users, the question of
overcoming obstacles by a wheelchair always remains as topic of discussion for many
researchers.

Inourprojectamotoroperatedstairclimbingwheelchairconceptwhichcanovercomethear
chitecturalbarriers to a considerable extent has been developed. This project involves the
design of an ergonomically designed battery powered wheelchair for multipurpose use.
Stair climbing functionality is embedded in the design through its structure and mechanism.
All the design parameters of wheelchair were based on the standard design of the stairs in
India. Major part of the project focuses on the proposed design concept and concludes by
discussing upon the physical working model developed for the proposed design solution.
Keywords: Architectural barriers, motor operated, stair climbing
 CONTENTS

Chapter Page
Title
No. No.

1 INTRODUCTION 1-09
1.1 Wheelchair 01
1.1.1 History 01
1.1.2 Types of wheel chairs 01
1.1.3 Limitations 05
1.2 Stairs 06
1.2.1 Standard stair size 08
1.3 Summary 09
1.4 Objectives 09

2 LITERATURE SURVEY 10-18

2.1 Manual wheel chairs with stair-climbing capabilities 10
2.2 Power wheel chairs with stair-climbing capabilities 14
2.2.1 Wheel chairs that use wheels or wheel clusters to climb 14
2.2.2 Wheel chairs and wheel chair carriers that use legs to climb 16
2.2.3 Wheelchairs and wheelchair carriers that use a rubber track to climb 17

3 METHODOLOGY 19
3.1 Description 19
4 INTRODUCTION OF CAD 20-25
4.1 Principle Parts 25

5 INTRODUCTION OF ANALYSIS 27-41

5.1 A General Procedure For Finite Element Analysis 29
5.1.1 Preprocessing 29
5.1.2 Solution 29
5.1.3 Post processing 29
5.2 Frame 30
5.2.1 Frame Analysis 32
5.3 Lobe Wheels 35
5.3.1 Wheels Analysis 36
5.4 Chair 39
5.5 Gear motor 39
5.6 Transmission System 41
6 WORKING MECHANISM 42-43
7 CALCULATION 44-45
8 RESULTS AND DISCUSSION 46-47
9 ADVANTAGES AND DISADVANTAGES 48-49
9.1.1 Advantages 48
9.1.2 Disadvantages 48
9.2 Applications 48
9.3 Engineering Practices 48
9.3.1 Human safety 48
9.3.2 Environmental Impact 49
9.3.3 Ethical Practices 49
9.3.4 Cost Consideration 49
9.4 Future Scope 49
10 CONCLUSIONS 50
11 REFERENCES 51-52
 LIST OF FIGURES

Figure Page
Description
No. No.
1.1 Manual self-propelled wheelchair 2
1.2 Manual attendant-propelled wheelchair 2
1.3 Powered wheelchair 3
1.4 Mobility scooter 3
1.5 Single arm drive wheelchair 4
1.6 Reclining wheelchair 4
1.7 Sports wheelchair 5
1.8 All-terrain wheelchair 5
1.9 Stair terminologies 7
1.10 Standard stair size 8
2.1 Ernesto Blanco's Wheelchair Climbing a Staircase 10
2.2 Manu scale Wheelchair 11
2.3 Vardaan Manual Stair-Climbing Wheelchair 12
2.4 Stair bike Climbing a Staircase 13
2.5 Zenith3 Model 13
2.6 TGR Scoiattolo 2000 Wheelchair 14
2.7 Independence BOT 4000 Mobility System 15
2.8 OB-EW-001 Observer Maxims 16
2.9 Zero Carrier Wheelchair 16
2.10 C-MAXU1 Climbing a Staircase 17
2.11 Top Chair Wheelchair Descending a Staircase 17
2.12 TGR Explorer Powered Wheelchair 18
2.13 Stair max Wheel chair Carrier 18

4.1 CAD Frame design 25

4.2 Detail view of frame 25
4.3 CAD Lobed Wheel desigen 26
4.4 Stair Climbing Mechanism 27
5.1 Anlyses collaboration 27
5.2 CAE - Development process
27
5.3 Flow chart of anlyses 28
5.4 Frame design 31
5.5 Frame dimensions 31
5.6 Total deformation of the frame 32
5.7 FOS of the frame 33
5.8 Fatigue FOS of the frame 33
5.9 Maximum principal stress of the frame 34
5.10 Maximum principal strain of the frame 34

5.11 Human gait cycle 35

5.12 Wheel design 36
5.13 Wheel dimensions 36
5.14 Total deformation of the wheel 37
5.15 Maximum principal stress of the wheel 38
5.16 Maximum principal strain of the wheel 38
5.17 Seat tilting mechanism 39
5.18 Motor connection 40
6.1 Working mechanism 42
6.2 Mechanism top view 43
STAIR CLIMBING WHEEL CHAIR

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 suffer huge blows while playing and are always at the risk of suffering severe
injuries. These injure some times 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 wheel barrows to move people as
well as heavy objects. A distinction between the two functions was not made for another
several hundred years, around 525AD, 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 OFWHEELCHAIR

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,

[Link] Manual self- propelled wheelchair

As elf-propelled manual wheelchair in corporate a frame, seat, one or two foot

plates (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.

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The larger rear wheels usually have push rims of slightly smaller diameter
projecting just be yond the tire ; these allow the user to man oeuvre the chair by pushing on
them without requiring them to grasp the tires.

Figure1.1:Manual self-propelled wheelchair

[Link] 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 man oeuvre and controlled by a person standing ethereal and pushing on handle
incorporated in to the frame. Braking is supplied directly by the attendant who will usually
also be provided with afoot-or hand-operated parking brake.

Figure1.2:Manual attendant-propelled wheelchair

[Link] 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 arm rest, or on the upper rear of the frame as seen in Figure 1.3.

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Figure1.3:Powered wheelchair

[Link] 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 the selvesdisa bled as seen in Figure [Link] 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 scooter sere frequently four-wheeled, with a much more substantial seat.

Figure1.4: Mobility scooter

[Link] 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 [Link] large wheel on the same side as the arm tube
use defatted with two concentric hand rims, 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 hand rims are grasped together, the chair may be propelled
forward or backward ina 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.

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Figure1.5:Single arm drive wheelchair

[Link] Reclining wheelchairs

Reclining or tilt-in-space wheelchairs have seating surfaces which can be tilted to various
angles as seen in [Link] original concept was developed by an orthotic, 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.

Figure1.6:Reclining wheelchair

[Link] 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 [Link] are usually non-
folding (in order to increase rigidity), with a pronounced negative camber for the
wheels(which provides stability and is help full form a king sharp turns),and of ten are made
of composite, light weight materials.

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Figure1.7:Sportswheelchair

[Link] All-terrain wheelchairs

All-terrain wheelchairs can allow users to access terrain other wise completely in accessible
to a wheelchair user from [Link] different format shave been developed. One
hybridizes 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 push-rims and propulsion/braking is by pushing directly on the tires.

Figure1.8:All-terrain wheelchair

1.1.3 LIMITATIONS

Wheelchair has limitations against architectural barriers on its way. Although has per
PWD1995 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,

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lowering kerfs, 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 been fit 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 them selves to the common demand 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 in to 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 Figure1.9.

Each step is composed of tread and riser.

• Tread

The part of the stair way that is stepped on. It is constructed to the same specifications
(thickness) as any other flooring. The tread "depth" is measured from the outer rodeo 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.

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• Nosing

An edge part of the tread that protrudes over the riser beneath. If it is present, this means that,
measured horizontally, the total "run" length of the stairs is not simply the sum of the tread
lengths, as the treads overlap each other.

The following stair measurements are important:

Figure1.9:Stair terminologies

The rise height or rise of each step is measured from the top of one tread to the next. It is
not the physical height of the riser; the latter x clues the thickness of the tread. A person
using the stairs would move this distance vertically for each step taken.

• The tread depth of a step is measured from the edge of the no sing to the vertical
riser; if the steps have noosing, it is the same as the going; otherwise it is the going
plus the extent of one nosing.

• The going of a step is measured from the edge of the nosing to the edge of nosing in
plan view. A person using the stairs would move this distance forward with each step
they take.

• To avoid confusion, the number of steps in a set of stairs is always the number of
risers, not the number of treads.

• The total run or total going of the stairs is the horizontal distance from the first riser
to the last riser. It is often not simply the sum of the individual tread lengths due to the
nosing overlapping between treads. If there are N steps, the total run equals N-1 times
the going: the tread of the last step is part of a landing and is not counted.

• The total rise of the stairs is the height between floors (or landings) that the flight of
stairs is spanning. If there are N steps, the total rise equals N times the rise of each
step.

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• The slope or pitch of the stairs is the ratio between the rise and the going (not the
tread depth, due to the nosing). It is some times called the rake of the stairs. The pitch
line is the imaginary line along the tip of the nosing of the treads. In the UK, stair
pitch is the angle the pitch line makes with the horizontal, measured in degrees. The
value of these lope, as a ratio, is then the tangent of the pitch angle.

• Headroom is the height above the nosing of a tread to the ceiling above it.

• Walk line – for curved stairs, the inner radius of the curve may result in very narrow
reads. The "walk line" is the imaginary lines distance a way from the inner edge on
which people are expected to walk. Building code will specify the distance. Building
codes will then specify the minimum tread size at the walk line.

1.2.1 STANDARD STAIR SIZE

Figure1.10: Standard stair size

The standard stair size is shown in fig1.10. The stairs are constructed in
every building based on,

• The average foot size of an adult for tread length i.e., 25.4cm.
• The riser height is based on the way the foot comes while coming down the stairs,
there commended height is 19.7 cm.

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1.3 SUMMARY
From the many types of stair climbing wheelchairs, we can see that some of them like
Manual scale, Vardar use manual method for movement and high effort might be needed to
climb the stairs. The person on the power wheelchair can sit in comfort while it climbs the
stairs but those wheel chairs are not available in India. Even if they can be imported from
other countries the total cost would be very high (i.e. around 9 laths). Hence an attempt is
required to make an indigenous and cost effective stair-climbing wheelchair.

1.4 OBJECTIVES

• To design a stair-climbing wheelchair for differently-able person with lower limb

disability in order to increase their mobility

• To fabricate a stair-climbing wheelchair for differently-baled person with lower

limb disability

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CHAPTER - 2

LITERATURESURVEY

After conducting an intensive literature review, it was found that wheelchairs with
stair-climbing capacities can be categorized into two types; the battery powered and the
[Link],ther
eare limited scholarly reviews published on manual or battery powered wheelchairs. Instead,
patent certificates, wheelchair descriptions, and operation manuals are available. Indeed, no
peer reviewed literature was found for manual wheelchairs. Some researchers have built scale
models or full size prototypes of their designs but little documentation has been published on
this type of wheelchairs.

2.1 MANUAL WHEELCHAIRS WITH STAIR-

CLIMBING CAPABILITIES

In 1962, Ernesto Blanco, while working at Massachusetts Institute of Technology

(MIT),designed a self-propelled stair-climbing wheelchair [1], but a full scale prototype was
never built. However, a small model of Blanco’s design was built to showcase how his
wheelchair would perform rolling in flat ground as well as how it would climb and descend
stairs. Fig.2.1 shows a picture of Blanco’s wheelchair model climbing a stair case. Although
opera viewed literature was published on Blanco’s wheelchair, the mechanism can be
examined from the description given in MIT’s website and picture of the model.

Figure2.1Ernesto Blanco's Wheelchair Climbing a Stair Case[1]

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The spokes that extend outward away from the drive wheels are loaded with springs. The
spokes are space din such away that, as the wheel chair rolls on flatter rain; they are
completely compressed in ward, allowing he wheelchair to roll entirely on its drive wheels.
While climbing or descending a stair case, the spokes project outward away from the drive
wheels to engage the top edges of the steps.

The contact points act as pivot points and allow the user to climb or descend softly. As the
drive wheels roll on top of the spokes, these are compressed inward allowing the drive
wheels to rest on the top flat surface of the step. Not much else can accurately be said of
Blanco’s wheelchair as no other literature was found.

Another manual stair-climbing wheelchair found is The Manu scale shown in Fig 2.2. Here,
again, little literature has been published on this wheelchair, from which the following
observations are made. The Manu scale moves on the drive and turning wheels as a typical
manual wheelchair. Before climbing, the wheelchair is backed in reverse just in front of the
staircase. The user then pulls on a handle bar which reclines the seat, drops the climbing
sprockets to the floor, and lifts the drive and turning wheels from the floor. In this position,
the wheelchair drive wheels are now connected to the climbing sprockets by a series of chains
and drive sprockets, such that, as the user pulls to turn the drive wheels, the chains drive the
climbing sprockets. As the sprockets move backward, they drop on the top of the first step
and lifts the wheelchair up. The user continues to pull on the drive wheels to continue
climbing the remaining steps.

Figure 2.2 Manu scale Wheelchair [2]

Although Manu scale is capable of climbing stairs, the climb is rather uncomfortable. The
climbing sprockets with only four spokes are spaced far apart from each other and thus slam
the user each time the sprocket turns 90 degrees. Considering the number of turns needed to
climb an average staircase, slamming the user and chair every quarter of a turn is not
desirable

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for the user or the wheelchair. In addition, it is observed that the right drive wheel controls
the right climbing sprocket and the left drive wheel controls the left climbing sprocket
respectfully. Having independent control of the climbing sprockets can be advantageous
when it is required to make turns during the climbing process. However, it can also sacrifice
stability, comfort, and reliability of the wheelchair and its components and provide an
unpleasant experience forth user. Last, the user powers the climbing sprockets by pulling on
the drive wheel rims that are now difficult to reach while on reclined position, causing strain
to the user’s wrist joints. As seen on the video, pulling on the drive wheels to climb a small
wing of steps is tiring and challenging for the user.

A third manual stair-climbing wheelchair found through an internet search is Vardaan. Figure
2.3 [3] is a wheelchair designed by a group of four engineering students at the Indian Institute
of Technology (IIT). Vardaan is capable of climbing a wing of stairs by pulling on handle
bars connected to sets of ―Y‖ shaped wheels. The power arms are connected to ratchet sand
braking systems making a safe and stable climb and descend. As with the previous
wheelchairs, there exist very little published documentation that further explain show
Vardaan climbs. Lola Nayar [4] describes the project and its innovative climbing procedure
conducted by Shaun Sharma, teal. and mentored by Prof. Kanpur. Currently, the wheelchair
designed by Shanu Sharma has been approved by the IIT science and technology departments
for further research and possible mass production.

Figure 2.3 Vardaan Manual Stair - Climbing Wheelchair[3]

The Stair bike shown in Fig. 2.4 is a working prototype of a manual stair-climbing wheelchair
designed to help active individuals with good condition who suffer from Para plebian[5].
With

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Limited literature published about the Stair bike the following observation can be assumed.
Theo series reclined almost parallel to the ground in a very uncomfortable eland unsafe
position. One can imagine the difficulty, strength and coordination required to bring the user
to a rolling position (upright) after climbing or descending a staircase. The two clusters of
four wheels on the back are powered by chains and pedals for the user to control with his/her
hands.

Figure 2.4 Stair bike Climbing a Staircase [5]

The last reviewed manual wheelchair that claimed to have stair-climbing capabilities was
Zenith. This is manual stair-climbing wheel chair conceptual design by Josefina Chaves-
Posses al. shown in Fig. 2.5 in collaboration with the University of Alberta [19]. By
observing the picture of the wheelchair, we can derive that Zenith moves on two tracks on flat
terrain and climbing stairs. It can be observed that there are clusters of three legs with small
wheels at the ends that help during climbing mode.

Figure2.5 Zenith3D Model[19]

By pure observation one can assume that the Zenith’s climbing power tracks are controlled
when the user turns the drive wheels’ rims. Also, the appear strobe a line a racquet or
between

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The drive train and the user, possibly used to recline the seat as the wheel chair
climbs the steps. Little else can accurately be said about Zenith, as no published literature of
any kind was found. Effort swore made to contact the designer with little success.

This completes the summary of manual stair-climbing wheelchairs found in the

literature. Unfortunately, very few scientists and scholars have taken the subject seriously and
research and development of manual stair-climbing wheelchair slag sin development. Since
little information was derived from the limited literature on manual stair-climbing
wheelchairs, the focus is changed to power wheelchairs with stair-climbing capabilities.

2.2 POWER WHEEL CHAIRS WITH STAIR-CLIMBING CAPABILITIES

Power stair-climbing wheelchairs can be categorize in three types. The first type of
powered wheelchairs with stair-climbing capabilities uses wheels or clusters of wheels to
climb steps. The second type involves wheelchairs that use leg-like members to climb one
step at the time. The third type, involves wheelchairs that use a rubber track or some type of
crawler to climb. The following discussion centers on research of products available in
today’s market place as well as scholarly published literature.

2.2.1 WHEEL CHAIRS THAT USE WHEELS OR WHEEL

CLUSTERS TO CLIMB

The first type of wheel chairs use wheels or clusters of wheels to [Link].2.6
shows the TGRS coiattolo 2000 Wheelchair [6]. This wheelchair is capable of carrying a
paraplegic person up stairs with the help of an assistant. An assistant refers to an adult
individual who assists the user (paraplegic user) to climb or descend the staircase.

Figure 2.6 TGR Scoiattolo 2000 Wheelchair [6]

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The TRG Scoiattolo 2000 Wheelchair is equipped with a set of batteries and motors used to
ascendand descent stairs.

Figure 2.7 Independence BOT 4000 Mobility System

The Independence iBOT 4000 Mobility System is a wheelchair that utilizes clusters of wheels
to climb stairs as shown in figure 2.7[9]. This system manufactured by Independence
Technology, a Johnson Johnson Company, is a wheel chair that can assist paraplegic patient
sin moving on flat terrain as well as climbing steps without the need of an assistant. The
iBOT can maneuver flat terrain rolling on its four wheels, a function intended to be used
primarily in out door environments. In this function, the iBOT is capable of moving through
so ft or unstable terrain such as grass, gravel, dirt, and beach sand. In addition, when the
wheel chair move several curve or incline, the cluster rotates proportionally to maintain a
level seat and maximize the tipping over factor of safety as described in [9].

Another wheelchair that uses its wheels to climb stairs is the OB-EW-001 Observer
Maximizes shown in Figure2.8. This device utilizes two powerful motors to drive the front
and the rear wheel snide pungently, making it a power 4WD wheelchair. The wheelchair also
uses a gyroscope to monitor the inclination of the chair when climbing stairs and ramps and a
motor to adjust the seat level with leveled ground.

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Figure2.8OB-EW-001ObserverMaximus [10]

2.2.2 WHEELCHAIRS AND WHEELCHAIR CARRIERS THAT

USE LEGS TO CLIMB

The second type of stair-climbing wheelchairs and wheelchair carriers

consists of leg-like elements to dominate stairs. Fig. 2.9 shows the Zero Carrier wheelchair
designed by Jianjun Yuanetal. [12,13]. Zero Carrier is an eight-legged wheel chair equipped
with wheels attached at the end of each leg. Further more, the legs are constructed from
square tubing fitted inside bigger square tubing capable of compressing and expanding. All
eight legs are independently driven by eight motors giving the Zero Carrier the possibility to
compress or expand any leg independent from the rest.

Figure 2.9 Zero Carrier Wheelchair [12]

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Wheelchair carriers that utilize leg-like elements to climb stairs include the C-MAX
U1 by AAT The Stair climber People [11]as shown in Figure2.10

C-MAX U1 is a wheelchair carrier that is strapped to the back of most

manual wheelchairs. The user requires an assistant to climb stairs. The carrier lifts up the user
on two legs and the assistant takes to position of the back legs to prevent it from falling back.
The C-MAX U1 is composed of an electric motor that runs a rack attached to the legs and
pushes it down ward away from the main frame of the carrier.

Figure 2.10 C-MAXU 1 Climbing a Staircase [11]

2.2.3 WHEEL CHAIRS AND WHEEL CHAIR CARRIERS THAT

USE ARUBBERTRACK TO CLIMB

The device sun deer this category are equipped with some type of climbing tracks
of ten made of rubber material to help climb stairs. Of all the types studied, these types seem
to be the most abundant and favorable by user as it is very smooth during climbing and
descending. The jeer kin gore sudden acceleration change for these types of climbers is
minimized.

The Top chair shown in Figure2.11 is a powered stair-climbing wheelchair invented

by Manse De Clermont and first produced in 2007 by the Top chair Company [14],
[15]. The Top chair mo vision flat ground like typical electric wheelchair and on climbing
tracks to climb steps.

Figure 2.11 Top Chair Wheelchair Descending a Staircase[14]

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The TGR Explorer wheelchair is similar to Top chair and is shown in Figure 2.12, designed
byte Italian company TGR Instruments of Freedom [16] consists of two separate independent
systems; one system consists of three wheels used for flat ground navigation while the other
consists of a climbing track for climbing applications.

Figure 2.12 TGR Explorer Powered Wheelchair [16]

The Stair max, designed by Lehar Lifter chink [20], a wheel chair carrier that can
be adapted to most manual wheelchairs is shown in Fig. 2.13. Stair ax climbs stairs without
the use of an assistant, as long as the user possesses good arm and finger functionality as
described in the operation manual [17]. The staircase is required to have at least one good
handrail. In addition to the climbing track, the Stair maxis equipped with a small wheel in the
back to make turns.

Figure 2.13 Stair max, Wheelchair Carrier [17]

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CHAPTER - 3

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

Selection
SELECTION of project

Existing Scope for

SURVEY product improvement

Design of Analysis
DESIGN frame and of frame Calculations
wheel and wheel

Fitting all
ASSEMBLY the parts Wiring

Testing of the
TESTING wheelchair

Tabulation of
RESULTS results obtained
from testing

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CHAPTER - 4
INTRODUCTION OF CAD

• Design and analysis approach

CREO PARAMETRIC is a parametric, feature based, solid modeling System. It is the
only menu driven higher end software. CREO PARAMETRIC provides mechanical engineers
within approach to mechanical design automation based on solid modeling technology and the
following features.

3-DModeling
The essential difference between CREO PARAMETRIC and traditional CAD systems is
that models created in CREO PARAMETRIC exist as three-dimensional solids. Other 3-
Dmodelers represent only the surface boundaries of the model. CREO PARAMETRIC
models the complete solid. This not only facilitates the creation of real is tic geometry, but also
allows for accurate model calculations, such as those for mass properties.

Parametric Design
Dimensions such as angle, distance, and diameter control CREO PARAMETRIC model
geometry. It can create relationships that allow parameters to be automatically calculated based
on the value of other parameters. Whenever modify the dimensions, the entire model geometry
can update according to the relations created.

CAD Geometry
Feature-Based Modeling
It can create models in CREO PARAMETRIC by building features. These features have
intelligence, in that they contain knowledge of their environment and adapt predictably to
change. Each feature asks the user for specification formation based on the feature type. For
example, a hold ease diameter, depth, and placement, while around has a radius and edges to
round. Associatively

CREO PARAMETRIC is a fully associative system. This means that a change in the
design model anytime in the development process is propagated throughout the design,
automatically updating all engineering deliverables, including assemblies, drawings, and
manufacturing data. Associatively makes concurrent engineering possible by encouraging
change, without penalty, at any point in the development cycle. This enables down stream
functions to contribute their knowledge and expertise early in the development cycle.

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Capturing Design Intent

The strength of parametric modeling is in its ability to satisfy critical design
parameters throughout the evolution of a solid model. The concept of capturing design intent is
based on incorporating engineering knowledge in to a model. This intentis achieved by
establishing feature and part relationships and by the feature-dimensioning scheme. An example
of design intent is the proportional relationship between the wall thickness of a pressure vessel
and its surface area, which should remain valid even as the size of the vessel changes.

Combining Features in to Parts

The various types of CREO PARAMETRIC features serve as building block sin
the progressive creation of solid parts. Certain features, by necessity, precede others in the
design process. The features that follow rely on the previously defined features for dimensional
and geometric references. The progressive design of features cancreate relationships between
features already in the design and subsequent features in the design that reference them.
Part Modeling

• Starting Out in Part Mode-Describe show to start creating a part with CREO
PARAMETRIC.
• Sketcher—Describe show to create sketches in a stand-alone Sketcher mode.
• Datum—Describe show to create datum features: datum planes, datum points, datum
curves, datum axes, coordinates features, graphs, evaluate features.
• Sketching on a Model—Describe show to create 3D sections in the process of feature
creation.
• Feature Creation Basics—Describe show to create extruded and revolved protrusions.
• Sweeps, Blends, and Advanced Features—Describe show to creates weeps, blends,
and advanced features.
• Construction Features—Describe show to create construction features, such as holes,
slots, and cuts.
• Rounds—Describe show to add rounds to part geometry.

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• Tweak Features—Describe show to create weak features, such as draft, local push, and section
dome.
• Creating Surface Features—Describe show to create surface features.
• Creating Advanced Surface Features—Describe show to create advanced surface features.
• Working with Quilts—Describes operations that one can perform on quilts.
• Free form Manipulation—Describes how to dynamically manipulate a surface of a part or
quilt.
• Patterning Features—Describe show to pattern features.
• Copying Features—Describe show to create and place groups of features, and how to copy
features.
• Modifying the Part—Describe show to modify and red fine the part.
• Regenerating the Part—Describe show to regenerate the part and resolve regeneration
problems.
Assembly
One can combine features not only into parts but also into assemblies. Assembly mode in
CREO PARAMETRIC enables to place component parts and sub assemblies together to for
mass emblazes, as well as to design parts based on how they should fit together. It can be then
modify, analyze, or reorient the resulting assemblies.
Overview
To create as up assembly Oran assembly, must place a base component or feature, and then
attach additional components to the base and to each other. Components cannot attach to an
exploded assembly. It must unexploded first.
How to add component stoat assembly:
• Attach a component parametrically by specifying its position relative to the base component or
other components in the assembly.
• Attach a component non parametrically using the Package command in the COMPONENT
menu. Use packaging as a temporary means to include the component in the assembly; then
finalize its location with assembly instructions.
• Create a part or sub assembly directly in Assembly mode. This option is available only if you
have a Pro/ASSEMBLY license is available.

Working with Assemblies

To work with an assembly, use the File menu to open or create an assembly file. The
ASSEMBLY menu displays the following options:
• Component—Manipulates assembly components (using the COMPONENT menu).

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• Feature—Manipulates assembly features (using the ASSYFEAT menu).

• Modify—Modifies assembly or component dimensions and features (using the ASSEMMOD
and MODIFY menus).
• Restructure—Modifies assembly groupings, moving components from one assembly or sub
assembly to another (using the RESTRUCTURE menu).
• Mechanism—It allow stode fine motion for the assembly (using Pro/MECHANICA).
• Sampled Rep--Creates, modifies, or sets a simplified representation (using the SIMPLFDREP
menu).
• Design Mgr—Accesses tools to manage assembly design (using the DESIGNMGR menu).
• Regenerate—Updates modified part and assembly dimensions (using the PRTTOREGEN
menu).
• Relations—Edits parametric label sand add soared its constraint equations (using
the MODELREL and RELATIONS menus).
• Family Tab—Edits assembly family table sorceries assembly in stances (using the FAMILY
TABLE menu).
• Set Up-- Assigns assembly mass properties, and specifies length units, mass units, dimension
bounds, and other set up properties (using the ASSEMSETUP menu).
• Layer—Performs layer procedures (using the LEVEL SEL and MODEL INFO menus).
• Program--Provides an option (Pro/PROGRAM) to create a program to control the design of
parts in an assembly (using the PROGRAM menu).
• Integrate--Retrieves integration project files (created in Pro/PDM) and generates difference
reports to resolve differences between source and target assemblies (using the INTEGRATE
menu).
• Copy From—Copies entire assemblies or sub assemblies in to then assembly.

Initial Procedures
To place a base component or feature, it must either create three orthogonal datum planes
as the first feature, assemble an existing component (part, subassembly, or skeleton model), or
create a base component.

Datum Planes as the First Features

When one create three orthogonal datum planes as the first features in an assembly, can be
assembled a component with respect to these planes, or create a part in Assembly mode as the
first component. Using datum planes as the first feature has the following advantages:

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• Can be redefining the placement constraints of the first assembled component.

• Can be pattern the first component added, creating a flexible design.
• Can be replaced the first component with inter changeable components.
• Can be reorder subsequent components to come before the firs tone (if the components are not
children of the first component).

Placing a Base Component

If one does not create three orthogonal datum planes, the base component is the first part,
sub assembly, or skeleton model placed in to an assembly. In many way sitis like the base
feature of a part. The in it a assembly un its are the same as the units of the base component.
When a base component is the first object in an assembly (before any assembly features), no
placement constraints are defined. The component is simply placed by default. If it replace a
base component with interchangeable components, the replacing components will always be
placed by default as well.
Creating a Base Component
When one create the first component of an assembly, can either create an empty component
or copy from an existing component. As with an assembled base component, the in it a
assembly units are the same as the base component, and interchange components that replace
the created base component will always been the default orientation.
Assembling a Component Parametrically
Position of a component relative to its neighbors (components or assembly features) is so
that its position is updated as its neighbors move or change. This is called parametric assembly.
CREO PARAMETRIC allows to specify constraints to determine how and where the
component relates to the assembly.
To assemble a component parametrically, use the Component Placement dialog box. It can
access this dialog box through either the pop-up menu in the Model Tree window or the
Assemble command in the COMPONENT menu.

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4.1 PRINCIPLE PARTS

The wheelchair consists of following principle parts,

• Frame
• Lobewheels
• Chair
• GearmotorandReductionbox
• Transmissionsystem

Figure 4.1: CAD Frame design

Figure 4.2: Details view of Frame

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Figure 4.3:CAD Lobed wheel design

Figure 4.4 : Stair Climbing Mechanism

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CHAPTER - 5

INTRODUCTION OF ANALYSIS

Founded in 1970 as Swanson Analysis Systems, Inc., ANSYS, Inc. develops

markets and supports engineering simulation software and solutions for collaborative design
analysis and optimization. Our offerings provide the flexibility of implementing the right
engineering solution at the right time during product design process

Engineering
Management

Collaboration
DesignE CAE
ngineers Analysts

Fig.5.1: analyses collaboration

OptimalCAEDevelopmentProcess
CAD Simulation FullScaleSimulation

Idea

WhatIf?”

Concept Definition&Development VirtualProveoutS

Build&Test
Stage Stage tage

Fig. 5.2: CAE Development process

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ANALYSIS Process…

Fig.5.3: Flowchart of analyses is process

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5.1 A General procedure for Finite Element Analysis

Certain steps in formulating a finite element analysis of a physical problem are common
to all such analyses, whether structural, heat transfer, fluid flow, or some other problem. These
steps are embodied in commercial finite element software packages (some are mentioned in the
following paragraphs) and are implicitly incorporated in this text, although we do not necessarily
refer to the steps explicitly. The steps are described as follows.
5.1.1 Preprocessing
The preprocessing step is, quite generally, described as defining the model and includes
• Define the geometric domain of the problem.
• Define the element type (s) to be used.
• Define the material properties of the elements.
• Define the geometric properties of the elements (length, area, and the like).
• Define the element connectivity (mesh the model).
• Define the physical constraints (boundary conditions).
• Define the loadings.
The preprocessing (model definition) step is critical. In no case is there a better example of the
computer-related axiom ―garbage in, garbage out.‖ A perfectly computed finite element solution is
of absolutely no value if it corresponds to thewrong problem.
5.1.2 Solution
During the solution phase, finite element software assembles the governing algebraic
equationsin matrix form and computes the unknown values of the primary field variable(s). The
computed values are then used by back substitution to compute additional, derived variables, such
as reaction forces, element stresses, and heat flow. As it is not uncommon for a finite element
model to be represented by tens of thousands of equations, special solution techniques are used to
reduce data storage requirements and computation time. For static, linear problems, a wave front
solver, based on Gauss elimination, is commonly used. While a complete discussion of the various
algorithms is beyond the scope of this text, the interested reader will find a thorough discussion in
the Bathe book.

5.1.3 Postprocessing
Analysis and evaluation of the solution results is referred to as post processing.
Postprocessorsoftware contains sophisticated routines used for sorting, printing, and plotting
selected results fromafinite elementsolution. Examples ofoperations that canbeaccomplished
include:
• Sort element stresses in order of magnitude.

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• Check equilibrium.
• Calculate factors of safety.
• Plot deformed structural shape.
• Animate dynamic model behavior.
• Produce color-coded temperature plots.
While solution data can be manipulated many ways in post processing, the most important
objective is to apply sound engineering judgment in determining whether the solution results are
physically reasonable.

5.2 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 we rechosen 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 table5.1. The design of the frame in figures5.1 and
5.2.

Table 5.1 : Properties of mild steel

Properties Value

Density 7850 kg/m3

Young's modulus 2x105MPa
Poison ratio 0.3

Bulk modulus 1.66x105MPa

Shear modulus 7.69x104MPa
Tensile yield strength 250Mpa
Ultimate tensile strength 250Mpa
Compressive yield strength 460Mpa

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Figure5.4:Framedesign

Figure 5.5: Frame dimensions

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5.2.1. 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 tosustain the
load. The safety factor of stress was 7.3 and the safety factor of fatigue was [Link]
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 5.1. The results of the analysis areshownin figures 5.6 -
figure5.6.

Figure5.6 :Total deformation of the frame

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Figure 5.7: FOS of the frame

Figure 5.8 : Fatigue FOS of the frame

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Figure 5.9: Maximum principal stress of theframe

Figure 5.10: Maximum principal strain of the

frameTable5.3: Analysis parameters

Parameter Condition
Type of element Tetra heron
Boundary conditions Frame legs-fixed
Loading condition 1500Non the centre plate in negative y-
direction

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The results of the analysis conducted on the frame is as shown in the table 5.4
Table 5.4 : Results of analysis

Parameter Value
Max deformation 0.104mm
Factor of safety 7.3
Factor of safety fatigue 2.6
Maximum stress 43.91MPa
Maximum strain 0.00017

5.3 LOBE WHEELS

The stair climbing lobe wheel was designed by imitating the continuous foot movement in
ahumangait cycle. The discontinuous wheel or stair climbing lobe wheel is designed to
produce similar phase cycleas stanceand swing phase of human gait cycle as shown in
figure5.11.
The stair climbing lobe wheel is designed by considering foot size of human so that eachs
poke 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.

Figure5.11:Humangait cycle

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Figure 5.12: Lobed wheel design

5.3.1 Wheel Analysis

Figure5.13: Lobed wheel dimensions

Wheel analysis was done by using ANSYS15.0 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 [Link] wheel analysis is shown in figures 5.13 to 5.13.

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Table 5.5: Properties of plywood

Properties Value

Density 615 kg/m3

Young’s modulus 11GPa
Poison’s ratio 0.25
Ultimate tensile strength 35MPa
Yield compressive strength 31MPa

Bulk modulus 9.19x103MPa

Shear modulus 4.24x103MPa

Figure 5.14 : Total deformation of the wheel

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Figure5.15:Maximum principal stress of the wheel

Figure 5.16:Maximum principal strain of the wheel

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5.4 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 these at 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 the the may sit comfortably on the wheel chair whileit is climbing
stairs.

Knob total the seat

Figure 5.17: Seat tilting mechanism

The figure 5.17 shows the seat tilting mechanism where the knob is rotated to tilt
the seat to the higher position. The person sitting on the wheelchair can rotate the knob to
change the position of the seat when he wants to climb the stairs. With this the CG of the
wheelchair will be directed towards the ground.

5.5 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 5.16. 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 60rpm. Further the speed of the motor is reduced to 1.5 rpm using 1:40
ratio gear box. The specifications of the motor and the battery is shown in table 5.6 and 5.7
respectively

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Table5.6:Specification of motor
Motor DC gearmotor
Voltage 24V
Current 7.5A
Duty S1
Speed 1440 rpm

Table5.7:Battery specifications
Battery type Dry battery
Voltage 12V
Current 7.5Ah

The battery availability in the market is of 12V, so to provide the required voltage for the
motor two batteries are connected in series to make 24V. The connection for the motor is as
shown in figure 5.18. The motor and the battery is connected in series and the circuit is closed
by connecting are verse switch. The reverse switch is used to change the direction of the
motor so that the person can either climb up or climb down the stairs.

Reversing switch in control of DC gear motor Battery

the person on the wheelchair with reduction box

Figure5.18:Motor connection

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5.6 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.

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CHAPTER - 6
6.1 WORKING MECHANISM

The power is generated using a DC geared motor. This motor is coupled

with a gear box. Duet 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 hight or
que 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; there are 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 6.1 and figure 6.2.

Figure 6.1:Working mechanism

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Figure6.2:Mechanism top view

Wheel chair when approach the stairs, the seat is tilted backwards. This makes the CG of the
system to shift towards the rear wheel. When the motor is switched on the wheelchair starts to
climb the stairs. The direction can be reversed by using a direction control switch.

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CHAPTER - 7
CALCULATIONS
POWER CALCULATIONS
Torque required on a flat surface
Normal force(Fn)=force applied=mg
=100*9.81
=981N
Friction force(Ff)= Fn
=0.2*981
=196.2 N
Torque required=Ff*rw
=196.2*0.18
=35.316 N-m
Torque required on slope
Stair dimensions
Land:254.0mm
Rise:177.8 mm

Slopeofstair ()=tan-1(177.8/254)
=35o
Total mass acting (including setup) = 100kg = 100*9.8 =
981N Normal force acting(Fn)=mgcos

=100*9.81*cos (35o)
=803.58 N
Frictional force (Ff) =Fn
=0.2*803.58
=160.7 N
Oppo sing force(Fo) =mgsin
=100*9.81*sin (35o)
=562.67 N
Torque required =(Ff+ Fo)rw
=(160.7+562.67)0.18=130.20N-m

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Motor torque generated

2NT
Power of motor (P) =
60

21.5T

180 = 60
*0.6(i.e.,0.6=efficiencyofthe motorgearbox)
Torque at the mid-shaft Tmid=687.54N-m
Torque generated at wheels=Tmid/1 (1:1ratio sprocket arrangement)
=687.5 / 1
=687.5N-m
The following formulae were used to determine the radius and the chain length

P=2r2sin(180/Z2)

Lp=2*c/15+(Z1+Z2)/2+P(Z1-Z2)/(4π2*c)
L=Lp*P

Cactual=P/4[Lp-(Z1+Z2)/2+√{((Lp-(Z1+Z2)/2)2–8(20/2)2}]
Where, P=Pitch of chain
Lp = Pitch length of
chainL=Length of chain
c=center distance
Z1 = no. of teeth on
driverZ2=[Link] teeth on
driven
Cactual=actual centre distance
The requirements of the chain-sprocket arrangement is as shown in the table
Table7.1Chain, sprocket and centre distance calculation
Parameter Value
Centre distance 426 mm
Pitch of chain 15 mm
Radius of driven sprocket 78.9 mm
Radius of driver sprocket 78.9 mm
Pitch length of chain 90 mm
Length of chain 1350 mm
Actual centre distance 424.81mm
No of teeth on driver 33
No of teeth on driven 33

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CHAPTER - 8

8.1 RESULTS AND DISCUSSION

After assembly of the wheelchair, we first tested it on normal surface where we

loaded it gradually. The results are shown in the table8.1.

After successful pull up to 40 kg, people with weight around 60 kg and 80kg were
made to sit on the wheelchair. The motor was able to drive both the weights. The limit of the
wheelchair on the normal surfaceis100kg.

Then we tested the wheelchair on a slope where the limit was around 80kg.

The wheelchair was tested on the stairs, the wheelchair could pull weights up to 50 kg so we
made person of 55kg weight sit on the wheelchair and the results are tabulated in the table
below. Table 8.1 Ergonomically Results

LOADON
LOADINGCONDITION RESULT
WHEELCHAIR
No-load Successful
20kg Successful
40kg Successful
60kg Successful
On flat surface
80kg Successful
100kg Successful
110kg Unsuccessful

No-load Successful
20kg Successful
40kg Successful

On inclination (350) 60kg Successful

70kg Successful
80kg Unsuccessful

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Noload Successful
20kg Successful
30kg Successful
40kg Successful
Onstairs (350)
45kg Successful
50kg Successful
55kg Successful
60kg Unsuccessful

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CHAPTER - 9

9.1 ADVANTAGES AND DISADVANTAGES

9.1.1 ADVANTAGES

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

• These at can be tilted to the required angle.
• The wheelchair can climb stairs up to7inche sunrise.

• The operation of the wheelchair is easy.

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

9.1.2 DISADVANTAGES

• The wheelchair is heavy.

• The capacity of the motor required to climb the stairs is high.
• The battery capacity required Torun the motor the motor is more.
• The width of the wheelchair is more than the usual wheelchairs.

9.2 APPLICATIONS
• Hospital sand public places
• Institution sand office
• Industries
• Home

9.3 ENGINEERING PRACTICES

9.3.1 HUMANSAFETY

• The wheelchair is designed such that it can sustain loads up to1500Ni.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.

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9.3.2 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.

9.3.3 ETHICAL PRACTICES

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

• There was no backs tabbing 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

9.3.4 COST CONSIDRERATION

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

9.4 FUTURE SCOPE

• The frame weight can be reduced by using high strength light weight materials such
as composites, carbon fibre.

• The wheel chair can be automated by using electronics so that it will automatically
sense and climb the stair

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CHAPTER - 10
CONCLUSIONS

The design of the wheelchair is compact and hence is able to move about in almost all the
stairs that we find a tin situations, 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 a scandal light of stairs of 35-degree
elevation carrying a weight of 55kgs.

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CHAPTER - 11
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