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On Applying CSP for Coordination of a Multi-robot Holonic Manufacturing Execution System Read chapter Read first chapter

2016 | OriginalPaper | Chapter

Motion Analysis of a Robotic Wheelchair

Authors : Ionuţ Geonea, Nicolae Dumitru

Published in: Advances in Robot Design and Intelligent Control

Publisher: Springer International Publishing

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Abstract

This paper presents the authors’ contribution in designing and evaluating a transmission system for a robotic wheelchair. The kinematics of the proposed transmission is analysed in order to realize a proper gear synthesis. A 3D model of the transmission and wheelchair are designed in Solid Works, being then used for the dynamic simulation of the system in Adams software. The wheelchair motion simulation is done in Adams in two modes: traction motion and steering motion active. In case of traction motion simulation the resulting trajectory is a straight line displacement, whereas in the case of active steering motion the resulting displacement trajectory is circular. Simulation results demonstrate the efficiency of the developed transmission model and assure successful implementation of this design in a robotic wheelchair.

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previous chapter Extended Kalman Filter (EKF)-Based Local SLAM in Dynamic Environments: A Framework
next chapter On Building Remotely Operated Underwater Robot-Explorer with Bi-manual Poly-articular System
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Metadata
Title
Motion Analysis of a Robotic Wheelchair
Authors
Ionuţ Geonea
Nicolae Dumitru
Copyright Year
2016
Book
Advances in Robot Design and Intelligent Control

Print ISBN: 978-3-319-21289-0

Electronic ISBN: 978-3-319-21290-6

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-21290-6_47