TY - JOUR ID - 27675 TI - Wheelchair stabilization by the control of a spatial 3-RRS mechanism JO - Iranian Journal of Mechanical Engineering Transactions of the ISME JA - JMEE LA - en SN - 1605-9727 AU - Javadi, Mehrdad AU - Afzalpour, Narges AU - Jafari, Peymaan AU - KhorsandiJou, Mahdi AD - Mechatronics dept. - Islamic Azad University - South Tehran Branch AD - Mechatronics Eng. Dept. , Islamic Azad University - South Tehran Branch AD - Mechatronics Eng. Dept. , Islamic Azad University - South Tehran Branch, Tehran , Iran AD - Islamic Azad University, South Tehran Branch Y1 - 2016 PY - 2016 VL - 17 IS - 2 SP - 84 EP - 100 KW - Parallel robot KW - Spatial 3-RRS robot KW - Wheelchair stability control KW - Turn-over prevention DO - N2 - A spatial parallel mechanism namely 3-RRS mechanism has been assigned to be attached to the seat of a standard electric wheelchair to prevent the turning over of the handicapped sitting on the wheelchair. The system of the wheelchair and the mechanism is a self-balancing robotic wheelchair and has coped with several road conditions. A stability control system calculates the proper moments on the basis of the height of the mass centre and the angle of the wheelchair. The control parameters have obtained and the revolute motors have been actuated by the control torques. Based on the simulation results of the system in MatLab, two types of stabilized wheelchairs, one of which has shown good results on several road conditions, have been built and tested. UR - https://jmee.isme.ir/article_27675.html L1 - https://jmee.isme.ir/article_27675_0203b45670d7ea5c76f66d121af292f0.pdf ER -