SELF-BALANCING OFF

ROAD ELECTRIC WHEEL

CHAIR.

Guided By, Group member : Arya Anandh

Mr. sunith : Ashmy G S
Asst. Professor   : Rijo Mathew
electrical and electronics Department
: Sudeesh Kumar
 Current Scenario
• According to WHO, approximately 15% of the world’s
population is suffering from different forms of disability.
• Due to the social independence growing preference of
electric wheelchair among users.
• The automated wheelchairs available in market are
expensive for common people.
 Introduction
• As per census 2016, in India 2.68Cr from 121Cr is disabled.
• Commonly used wheel chair in India are manual wheelchair
and powered wheelchair
• The powered wheelchairs are very useful in following ways:-
 This system can be used in hospitals to carry injured at the
time when power lifts or ramps is not an option.
 Human assistance of operating wheelchair is eliminated.
 Objectives
• To develop a self balancing electric wheelchair.

• Modified based on needs.

• Allowing mobility through a simple movement of

joystick.

• Works on both flat ground surfaces and stairs.

• Light weight, Cost effective and also User efficient

 Construction

• There are two types of

mechanism in this wheel
chair.

• Traction Mechanism consist

of motors, conveyor belts,
wheels etc.

3d model developed using 3ds Max

 Construction
• The conveyor is of dual track
mechanism.

• The conventional single track

is replaced by two shorter
track section pivoted at a
certain point

Wheel chair to be modified

 Construction
• Deforming the crawler belt adaptively
to the stairs to obtain a grip force from
all of the steps appears to be an
effective method.

• Supporting the crawler at several

points avoids slippage accidents.
 Dual Track Mechanism
• Dual Track mechanism consist of a front track system and
a rear track system.

• There are 10 pulleys in total including both sides of the

track mechanism.

• Pulley has a radius of 6cm.

 Dual Track Mechanism
• The dual track mechanism
has more area in contacts
with the stairs than that of
single track mechanism

• Dual track mechanism offers

safety and stability.

• It has a 2.5cm of track-to-

ground clearance.
 Worm gear Mechanism
•A worm gear is a specific gear
composition in which a screw
(worm) meshes with a gear/wheel
similar to a spur gear.

•This setup enables the conveyor

belt action and thereby give power
to the linear actuator.

•Worm gear mechanism gives the

switching between normal mode
operation and stair climbing Sectional view
operation.
 Linear Actuator
• A linear actuator is an
actuator that creates
motion in a straight line

• It consist of a motor and a

piston which enables the
motion linearly.
 Linear Actuator
• Linear actuator is placed between the axels of the pulleys
in the second line and the seat arrangement.

• Linear actuator is positioned in such a way that the seat

angle does not exceed 35° degrees.
 Self balancing Mechanism
• The self balancing mechanism consist of PID controller, motor
drive, linear actuator and an IMU sensor.

• The IMU sensor is a combination of accelerometer and

gyroscope.

• The PID controller compares the set point values with the
output of the IMU sensor and the linear actuator will adjust
the seat angle.
 Working
• STEP1
The area of one-fourth of a rear pulleys is
in contact with first step while the rear
wheel touches the rise of first step 1.

• STEP 2
The linear actuator moves the conveyer belt
down and the rear conveyer belt ascends
the step 2
  
 Working
• STEP 3
The motor along with conveyer belt drives the
tracks. At the position most weight of the
tracked stair climbers in contact with the stair
edge .Here both wheels as well as the track
mechanism balances the ascending.

• STEP 4
The rear wheel touches the floor and drives the
front conveyer belt and operates as a normal
wheelchair.

• Same happens while descending .

 Working
• A 24V, electric supply is given to DC motor which converts
electric supply to motive power and then is transmitted to
the gear sets.
• The output from the gear set is fed to the driving wheel
during normal operation
• For the stair climbing operation, output from the gear sets is
fed to the conveyor belt with the help of gear mechanism.
 Working
• The balance control of the wheelchair while climbing the
stairs is done using PID control.
• The PID control is used to process the error signal
generated from comparing the set point with the
measurement angle by the IMU sensor so that the balance
control can be realized.
 Worm Gear Mechanism

•The hand break system present in the armset is connected

with the axial connecting gear-pulley set.

•The axial system moves and a worm mechanism is

established which drives the conveyer.
 IMU Sensor-Inertial Measurement
Unit
• Measures orientation of the wheelchair,
• It is combination of accelerometers
• gyroscopes and magnetometers.
• Accelerometer –Axis of seat position
• Gyroscope - Angle
• IMU MPU-6050 has 6 ports ,SDA and SCL retrieve gyro
and accelerometer values.
• The variation in chair climbing angle is
measured ,compared with reference angle.

 
 Linear Actuator
• It creates motion in a straight line
• The linear actuator adjust
itself to maintain the reference position and balances the
system.

Fig Conceptual design of linear actuator.

 System Design Specification

Stair climbing angle

37 degree

Stair climbing speed (max) 3.6 m/min

Stair descending speed (max) 4.2 m/min

Speed on flat stair (max) 72 m/min

Size length,width,height 1120 mm*635 mm* 914 mm

Power source(battery) 12 V 12 Ah*2

DC Geared motor 250W 24V DC *2

Vehicle weight 70 kg

Passenger weight (max) 80 kg

 Motor driver
• The self balancing off road electric wheel chair requires a
total of 3 H-Bridges.

• Two H-Bridge for the traction system and one for the
linear actuator.

• The linear actuator is incoporated with an IMU sensor.

Motor driver for the linear actuator.
24V

12V

INPUT

OUTPUT

The drive circuit for the linear actuator developed using proteus
Motor driver for the linear actuator.
• The drive includes :- two IR 2101 IC, four IRF540
mosfets, two IN4007 diodes, two 22µf 63v capacitors,
four 1kΩ resistors.

• The circuit designed consists of 3 terminals:- 12V

terminal, 24V terminal, and an input terminal.
Motor driver for the linear actuator.
H-Bridge

•An H-bridge is a simple circuit that

lets you control a DC motor to go
backward or forward.

•Use it with a microcontroller, such as

an Arduino , to control motors.
 Motor drive for the linear actuator.

•If we close switch 1 and 4, you have plus

connected to the left side of the motor and
minus to the other side. And the motor will
start spinning in one direction.
H bridge
•Instead if we close switch 2 and 3, you
have plus connected to the right side and
minus to the left side. And the motor spins
in the opposite direction.
 Motor drive for linear actuator
Working
• A gate IR2104 driver is a power amplifier that accepts a
low-power input from a controller IC and produces a
high-current drive input for the gate of a high-power
transistor such as a power MOSFET.

• This circuit can drive the linear actuator in clockwise and

anti clockwise direction.
IMU sensor in self balancing system.

IMU sensor

•The signal from the IMU sensor is fed to the linear

actuator through the microcontroller.

•The linear actuator operates according to the input from

the IMU sensor adjusting the angle of the seat of the
wheel chair.
Motor driver for the traction system

• MD10C is DC motor driver that can be used to control the

speed, direction, activation of the motor.

• MD10C can supports motor from 5V to 30VDC

Motor drive for the traction system
• Maximum current up to 10A continuous and 30A peak
(10 seconds)

• Full NMOS H-Bridge for better efficiency and no heat

sink is required.

• Speed control PWM frequency up to 20KHz

Motor drive for the traction system
working

•The signal from the joystick is fed to the

motor driver through the microcontroller,
thereby driving the motor.
 Simulation model
Motor drive for linear actuator
• When HIN is high and LIN is low, the motor rotates in
anti clockwise direction

Anti clockwise direction

 Simulation model
• When HIN is low and LIN is high , the motor
rotates in clockwise direction

Clockwise
 Simulation model
Motor drive for linear actuator

Driver circuit
 Conclusions
• Transformation of conventional wheelchair to functionality
modified system.
• The different mechanisms were reviewed and the most
appropriate were studied in detail.
• Stair climbing and self balancing using tilt mechanism
incorporated into conventional mechanism.
• Wheelchair can function as tracked or wheeled depending on
the surface.
• Optimization of ergonomics is incorporated to the design into
make wheelchair convenient and comfortable.
 Future scope
• The frame weight can be reduced by using high strength
lightweight materials such as composites, carbon fibres.
• The wheelchair can be automated by using electronics so
that it will automatically sense and climb the stairs
• Iot based wheelchair can be designed to control a
wheelchair using the voice of a consumer.
• Alarm system can be implemented in the wheelchair
 Reference
• [1] Beneke James G and Brown Ronald K,
“STAIR'CLIMBING WHEELCHAIR,” U.S. Patent 3,283,839,
INVENTO/PS, March 2, 1965

• [2]M.Prathyusha, K. S. Roy, Mahaboob Ali Shaik, “Voice and

Touch Screen Based Direction and Speed Control of
Wheelchair for Physically Challenged Using Arduino,”
International Journal of Engineering Trends and Technology.,
India, April 2013.

• [3]Murray J Lawn, Member, IEEE , and Takakazu Ishimatsu,

“Modeling of a stair-climbing wheelchair mechanism with
high single step capability” IEEE Transaction on Neural
systems and rehabilitation engineering, September 2003
THANK YOU