Evaluation of Power-Assist Cart using Coil Spring

Abstract

In this paper, evaluation experiments of a power-assisted cart based on inherently safety control are performed. This cart has advantages in carrying out the balancing operation and the moving operation separately. The balanced state in which the gravity load on the slope is balanced with the restoring force of the coil spring is assumed as the basic state. Then, safe movement is realized by recovering the balanced state collapsed by manual operation force by using the motor. In the experiments, the basic motions of the cart for the change of inclination angle of the slope and for the change of the weight are confirmed. Furthermore, the safety of the system against sudden power loss is confirmed.