Development of Rotaly Link with Built-in Slider to improve inverted pendulum type robotic wheelchair with the ability to climb stairs

Abstract

This paper proposes a new mechanism for an inverted pendulum type robotic wheelchair with the ability to climb stairs. This mechanism is developed to improve occupant safety and comfort. First, physical analysis confirmed that the proposed method met the purpose of ensuring the safety of the occupants. Next, the dimensional requirements necessary to develop the mechanism were clarified , and the mechanism was actually designed and manufactured. Finally, the operation was actually confirmed using the manufactured mechanism ,and problem were extracted