Lecture 19.ppt

Lecture 19 Dimitar Stefanov Powered wheelchair system schematic Powered Wheelchairs 1940s – first powered wheelchairs, standard manual wheelchairs adapted with automobile starter motors and automobile battery Prescription of the type of the wheelchair depends on the user’s mobility. In some cases – manual wheelchair for indoor and sort-distances and a powered wheelchair for long distances. Powered wheelchair with combination of other devices – communication devices, computer access devices, respirators, and reclining seating systems. NEMO, Madentec Limited, / 54 commands HMI by voice, switch, joystick, wheelchair controls. Depending on their construction: Power bases Power wheelchairs Scooters. Four classes wheelchairs (depending on their power): Class 1 – carry up to 100 kg, maximal speed of 1.1 to 1.8 ms-1 , capable to carry up to 6° slope, travel over than 10 km on a single charge, climb a 25 mm obstacle, for indoor use Class 2 – carry up to 100 kg, maximal speed of 1.8 to 2.7 ms-1 , capable to carry up to 9° slope, travel over than 16 km on a single charge, climb a 50 mm obstacle, designed for indoor and moderate outdoor use. Class 3 – carry up to 113 kg, maximal speed of 1.8 to 2.7 ms-1 , capable to carry up to 9° slope, travel over than 16 km on a single charge, climb a 50 mm obstacle, designed for active indoor and outdoor use. Class 4 – carry up to 130 kg, maximal speed of 10 to 12 km/h , capable to carry up to 15° slope, travel over than 35 km on a single charge, climb a 150 mm obstacle, designed for active outdoor use in heavy terrains. Scooter – an example Front-wheel driven (for indoor use) Rear-wheel driven (for indoor and outdoor use) Scooter can be broken down to fit into the trunk of an automobile. Electromagnetic brakes immobilize the wheelchair in case of inclined ground surfaces Motor selection: Armature controlled permanent magnet direct current motors – high torque, high start torque, simplest control In some prototypes: Brushless motors A