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Kinematical analysis and simulation of transformable wheelchair mechanism

Yudhistira, Prima Adhi (2011) Kinematical analysis and simulation of transformable wheelchair mechanism. Masters thesis, Universiti Tun Hussein Onn Malaysia.


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Disabled people with different level of impairment and limitation need proper assistive technology. Hence, this research is intended in the development of a new transformable wheelchair design which is able to transform from chair into bed form, and also transform into a sturdy standing position. The work had focused on designing, scaled prototyping, modeling and simulation for the new wheelchair using CAE tools. Design using AntoCAD result in a 3D virtual model of wheelchair with dimensions and detail profile. Scaled prototyping of early wheelchair concept was conducted to ease characteristic inspection of the model. The completed model was tested using kinematic simulation and virtual reality simulation. The final outcome of this research is the design of new transformable wheelchair, with three state modes with independent actuator at each joint to ease the user in obtaining a comfortable position. It is equipped with anti-tilt frame to maintain user in horizontal position while moving on slope. It also has a single bed size shape when transformed into sleeplng state. Kinematic simulation using SimMechanics and Simulink toolbox from MATLAB was developed to verify the design with respect to skeletal dimension problem among actuators and frames. Virtual reality simulation verified the design to avoid unexpected parts collision during transformation. Vrealm Builder, Simulink. and Virtual Reality toolbox from MATLAB were utilized for virtual reality simulation. Major issues in developing the product are the kinematic geometry and collision avoidance since the product has detail profile. These were resolved using kinematic and virtual reality simulation technique.

Item Type: Thesis (Masters)
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ1-162 Mechanical engineering and machinery
Depositing User: Normajihan Abd. Rahman
Date Deposited: 18 Apr 2012 04:42
Last Modified: 18 Apr 2012 04:42
URI: http://eprints.uthm.edu.my/id/eprint/2423
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