Wheelchair stabilization by the control of a spatial 3-RRS mechanism

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.