INTEGRATED DESIGN, MODELLING AND ANALYSIS OF TWO-WHEELED WHEELCHAIR FOR DISABLED

Two-wheeled wheelchairs are considered as highly nonlinear and complex systems. The challenges in handling such complex systems as well as the need for helping disabled people have motivated researchers around the world to do their work in this area with different focuses and objectives. Due to its highly nonlinear characteristics, modeling of this complex system mathematically is a challenging process. This paper presents an alternative way of integrating design and modeling of a two-wheeled wheelchair. The method proposes an integrated design and analysis of two-wheeled wheelchair in which the derivation of physical and mathematical model of the system is done by using Maple, MapleSim software, and the 3D design using Solidworks and MATLAB. Such integrated modelling allows for analysing and visualising the mechanism of the system's model, which is very much required for hardware implementation at a later stage. The obtained model was tested by linear-quadratic regulator and the result showed that the model with proposed design is working well. The designed LQR is able to balance the linearised model of the system.