Dynamics and Structural Analysis for Arm Equipped on Intelligent Wheelchair

Mechanical arm equipped on the intelligent wheelchair has the same characteristics with the common robot. And the mechanical arm installed on a wheelchair has greater research value in helping the elder and disabled. This paper focus on the kinematics of four DOF mechanical arm equipped on wheelchair, developing a mathematical model in order to realize the control of it and establishing the mechanical arm’s kinematics equations by using D-H conventions. Analyze its work space and structural strength based on MATLAB and ANSYS, which laid the foundation for design optimization and control application.