Improving Running Performance of Power-assisted Three-wheel Carrier Cart With Stair-climbing Ability

Abstract

Carts and carry bags are used to transport goods, and they place a heavy burden on the body, especially when ascending or descending stairs. However, crawlers are not suitable for stair climbing because they cause slippage. The driving unit of this cart has a planetary gear mechanism with three drive wheels on each side, and it can move on a plane by rotating the wheels and climb stairs by rotating the arm part. As a result of the power-assist performance on a plane and stairs, the burden of the user was reduced at both places, however, there was a problem of poor operability for descending stairs. In this study, we propose a new power-assist control method to solve the problem in descending stairs and evaluate the method through experiments.