Development of a segway-type turnable-seat wheelchair prototype | |
| Author | Jirapod Jintasornrom |
| Call Number | AIT Thesis no.ISE-21-10 |
| Subject(s) | Wheelchairs--Design and construction Electric wheelchairs--Automatic control |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | In this research, the control system design for a segway-type turnable prototype wheelchair has been proposed. This vehicle has a turnable wheelchair and two wheels on each side. The user can sit on the chair and have a hand controller for position control. The wheelchair can move in four directions which are forward, backward, turn left, and turn right. Also, the wheelchair is balanced by itself while moving in any direction. The chair rotation of the wheelchair is seen as a disturbance and should be handled by the system. The system uses electrical energy to drive a DC motor, and due to high current consumption, a Li-ion battery is used as a power supply. The control system is designed according to the optimal control algorithm. The controller develops with the same concept as a two-wheel self-balancing robot. This controller has been designed to balance while the top part of the robot rotates. Additionally, the controller can control the system in both translational and rotational motion. |
| Year | 2021 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Pisut Koomsap;Mongkol Ekpanyapong |
| Scholarship Donor(s) | Royal Thai Government Scholarships |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2021 |