scholarly journals The synthesis of a segmented stair-climbing wheel

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141774947 ◽  
Author(s):  
Vladimir Mostyn ◽  
Vaclav Krys ◽  
Tomas Kot ◽  
Zdenko Bobovsky ◽  
Petr Novak
Keyword(s):  
Rotation Angle ◽  
Stair Climbing ◽  
Circular Segment ◽  
Circular Profile ◽  
Bidirectional Movement ◽  
Centre Of Rotation ◽  
Flat Ground

The article describes the process of development of an essentially new wheel suitable both for moving on flat ground and for travelling on stairs. The stair-climbing wheel is composed of rotary circular segments arranged around a shared carrier with arms to form a complete circular profile of the wheel adapted for moving on flat ground; for travelling on stairs, individual segments are rotated by an appropriate angle to touch down tangentially on the stepping surface of the stairs. The dimensions of individual segments, the centre of rotation of individual segments and the angle of their partial turn have been chosen so that the length of the arc along which the circular segment rolls is equal to the length of the stepping surface of an average stair, and, at the same time, the circular segment touches down tangentially on the stepping surface while the wheel turns around the edge of the previous segment. Using the rotation angle of the turnable segments, the wheel can be adapted to the height of non-standard stairs. The segments can be inclined in both directions for bidirectional movement of the wheel up and down the stairs. An undercarriage equipped with these wheels can be used in the field of exploratory robots and for the transportation of persons and materials on stairs.

The Development of an Autonomous Robot System for Patrolling in Multi-Floor Structured Environment

2012 ◽  
Vol 6 (1) ◽  
pp. 13-21 ◽  
Author(s):  
Tao He ◽  
◽  
Masashi Bando ◽  
Michele Guarnieri ◽  
Shigeo Hirose ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Dynamic Environment ◽  
Autonomous Robot ◽  
Stair Climbing ◽  
Inspection System ◽  
Robot System ◽  
Localization Scheme ◽  
Collision Avoidance System ◽  
Flat Ground ◽  
Surveillance Application

This paper introduces the design methods and organization of an automation robot system developed for security purpose. The unique roller wheel design makes the platform suited for stair climbing while still achieving a stable movement on a flat ground. The robot also features a localization scheme which is based on the observation of the ceiling and therefore can work properly in a highly dynamic environment. A collision avoidance system and an inspection system are proposed for realizing the autonomous surveillance application. Different experiments were carried out and the results confirmed the system’s robustness for patrolling inside multi-floor structured environment.

Design of a Reconfiguration Mechanism for an Electric Stair-Climbing Wheelchair

2014 ◽  
Author(s):  
Giuseppe Quaglia ◽  
Walter Franco ◽  
Matteo Nisi
Keyword(s):  
Degrees Of Freedom ◽  
Stair Climbing ◽  
Vehicle Stability ◽  
Disabled People ◽  
Control Logic ◽  
Locomotion System ◽  
Hybrid Solution ◽  
The One ◽  
Architectural Barriers ◽  
Flat Ground

In this paper is described a new solution for a stair-climbing wheelchair: a device that allows disabled people to autonomously overcome architectural barriers. The paper presents the evolution of a project introduced in previous works. The aim is to obtain a wheelchair able to move both in structured and unstructured environments and overcome single steps or an entire staircase. The innovative aspect of this work is the introduction of a hybrid solution, with a locomotion system based on wheels and an idle track for the vehicle stability. The locomotion group permits to overcome obstacles through an original architecture based on an epicycloidal transmission. The control logic manages the motors that drive independently the two degrees of freedom of the transmission and allows to switch from an advancing mode to a climbing one. The wheelchair must be able to move in different environments, such as flat ground or stairs, which require different specifications, sometimes in contrast. For this reason the main part of the work regards the design of a reconfiguration mechanism able to prepare the wheelchair for different working conditions. First of all the relative positions between the elements that compose the wheelchair structure in different configuration are studied in order to optimize the performances especially in terms of regularity. Then several possible solutions for the reconfiguration mechanism are presented and qualitatively evaluated, in order to choose the one that satisfy the design specifications.

Wheelchair.q05 Final Design: An Innovative Stair-Climbing Wheelchair

2017 ◽  
Author(s):  
Giuseppe Quaglia ◽  
Matteo Nisi ◽  
Walter Franco
Keyword(s):  
Contact Point ◽  
Center Of Mass ◽  
Stair Climbing ◽  
Functional Elements ◽  
Wheelchair Users ◽  
Final Design ◽  
User Acceptability ◽  
And Control ◽  
Architectural Barriers ◽  
Flat Ground

The presence of architectural barriers in public or private buildings represents an important limit for the mobility of wheelchair users. Although norms promote barriers removal, often a complete accessibility cannot be guaranteed due to economic or technical reasons. In such cases, it is necessary to provide disable people with devices able to autonomously climb architectural barriers or obstacles. Referring to user needs, some requirements for the wheelchair can be defined. Firstly, the user must use it autonomously. Secondly, it should be easy to use, simple in the mechanical and control systems and with limited weight, dimensions, and cost. Finally, also the appearance of the wheelchair must be adequate to guarantee the user acceptability. In literature, several solutions of stair-climbing wheelchair are proposed. However, none of these completely satisfies the identified requirements. In this paper, the Wheelchair.q05, an innovative concept for a stair-climbing wheelchair, is presented. This idea has been developed through several years of researches and functional designs. In detail, this work presents the final design for a constructive and real scale prototype. The proposed wheelchair, thanks to a smart and hybrid locomotion system, is able to move on flat ground and to climb stairs and sidewalks. A triangular shaped frame with a wheel on each corner, connected through an internal epicyclical transmission system, constitutes the locomotion unit. This system provides the traction both for flat ground and stair motion. Moreover, the wheelchair has an idle track that represents the rear contact point during stair-climbing and guarantees only a stable and regular climbing motion. The wheelchair structure is thus constituted by the following functional elements: two locomotion units, the track, the seat and a couple of pivoting wheels connected to floating arms that represents the rear support during flat ground motion and during sidewalks overcoming. Through a kinematic synthesis, the optimal layout has been defined and the mechanisms that connect the functional elements with the frame have been designed. These mechanisms allow controlling the wheelchair reconfiguration that is necessary to adapt the vehicle to different working conditions. Moreover, attention has been paid to the user comfort. Thanks to the introduction of a mechanism that controls the seat orientation, the oscillations generated by the motion on stair are compensated and a regular trajectory is guaranteed for the user center of mass.

Structure and migration of planar defects in crystals observed in atomic scale

1978 ◽  
Vol 36 (1) ◽  
pp. 284-285 ◽  
Author(s):  
H. Hashimoto ◽  
Y. Sugimoto ◽  
Y. Takai ◽  
H. Endoh
Keyword(s):  
Electron Microscope ◽  
Rotation Angle ◽  
Crystal Surface ◽  
Electron Gun ◽  
Atomic Scale ◽  
Present Observation ◽  
Twist Boundary ◽  
Optical Magnification ◽  
Zinc Crystal ◽  
And Migration

As was demonstrated by the present authors that atomic structure of simple crystal can be photographed by the conventional 100 kV electron microscope adjusted at “aberration free focus (AFF)” condition. In order to operate the microscope at AFF condition effectively, highly stabilized electron beams with small energy spread and small beam divergence are necessary. In the present observation, a 120 kV electron microscope with LaB6 electron gun was used. The most of the images were taken with the direct electron optical magnification of 1.3 million times and then magnified photographically.1. Twist boundary of ZnSFig. 1 is the image of wurtzite single crystal with twist boundary grown on the surface of zinc crystal by the reaction of sulphur vapour of 1540 Torr at 500°C. Crystal surface is parallel to (00.1) plane and electron beam is incident along the axis normal to the crystal surface. In the twist boundary there is a dislocation net work between two perfect crystals with a certain rotation angle.

Can Users Judge the Stair-Climbing Abilities of Two-Wheeled Self-Balancing Robots?

2012 ◽  
Author(s):  
Keith S. Jones ◽  
Elizabeth A. Schmidlin ◽  
Noah J. Wheeler
Keyword(s):  
Stair Climbing

Musculoskeletal disorder risk associated with auto rotation angle during an assembly task

2009 ◽  
Author(s):  
Sue A. Ferguson ◽  
William S. Marras ◽  
W. Gary Allread ◽  
Gregory G. Knapik ◽  
Kimberly A. Vandlen ◽  
...  
Keyword(s):  
Musculoskeletal Disorder ◽  
Rotation Angle ◽  
Assembly Task ◽  
Disorder Risk

Look at that—the positive effect of video observation on physical stair climbing performance.

2018 ◽  
Vol 33 (8) ◽  
pp. 1195-1201
Author(s):  
Dorothée Altmeier ◽  
Otmar Bock ◽  
Daniel Memmert
Keyword(s):  
Stair Climbing ◽  
Video Observation ◽  
Positive Effect

The Feasibility of Optimal Surgical Result Prediction according to the Centre of Rotation Shift after Multilevel Cervical Total Disc Replacement

2018 ◽  
Vol 1 (2) ◽  
pp. 6
Author(s):  
Jun Ho Lee
Keyword(s):  
Rating Scale ◽  
Clinical Success ◽  
Total Disc Replacement ◽  
Numeric Rating Scale ◽  
Disc Replacement ◽  
Cervical Disc ◽  
Consecutive Series ◽  
Cervical Total Disc Replacement ◽  
Successful Group ◽  
Centre Of Rotation

Objective: This study investigates the relation between shifted locations of centre of rotation (COR) at each cervical level and subsequent surgical outcomes after multilevel cervical total disc replacement (MCTDR) and identifies radiological parameter that corresponded to change of COR after MCTDR. Methods: The study included a consecutive series of 24 patients who were treated with MCTDR following diagnosis of multilevel cervical disc herniation or stenosis. Numeric rating scale (NRS), range of motion (ROM) at both C2-7 segment and TDR implanted levels, and the location of COR at TDR implanted level were evaluated at pre- and post-MCTDR. These parameters were compared between patients who experienced successful and unsuccessful pain relief.Results: The inherent CORs relatively at ventro-cranial coordinates have demonstrated significant migrations to dorso-caudal locations at each cervical levels, more prominent shifts for the successful group, after MCTDR switch. The unsuccessful group showed markedly reduced C2-7 ROM and reduced angular improvement at C2-7 as well as MCTDR level after surgery in comparison with the successful group. Postoperative C2-7 ROM was related to postoperative COR along the X-axis.Conclusions: The crucial determinants for clinical success after MCTDR, other than mere preservation of the ROM both at C2-7 and TDR implanted levels, was the restoration of COR from ventro-cranial location at degenerated cervical motion segment close to normal coordinates by posterior and inferior shifts after MCTDR. The position of COR along the X-axis after MCTDR was an important factor to determine maintenance of C2-7 RO.

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