On Climbing Winding Stairs in an Open Mode for a New Robotic Wheelchair

This paper presents the mechanical design, locomotion and associated dynamic models of a new robotic wheelchair on climbing winding stairs. The prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base so that the robotic wheelchair can ascend and descend stairs; in particular, the capability of climbing winding stairs is addressed. Based on the skid-steering analysis, the dynamic models for climbing winding stairs are developed for the trajectory planning and motion analyses. These models are required to ensure a passenger's safety in such a way that the robotic wheelchair is operated in an open mode. Moreover, an equivalent constraint method is proposed for the prescribed motion of the robotic wheelchair on climbing winding stairs. The results of the simulation and maneuver are reported that show the behavior of the prototype as it climbs winding stairs in a dynamic turning.