路面傾斜の影響とキャスタの運動を組込んだ車椅子のモデル(機械力学,計測,自動制御)

概要

論文の詳細を見る
Equations of motion for a wheelchair in consideration of road inclination and caster motion were derived premising the following three assumptions: (1)Zero slip angle at every tire is assumed since a wheelchair is considered to move slowly. (2)The inclination of a slope is gentle and changes smoothly. (3)No other external force and moment than constant drag and moment about the vertical axis act on a contact point of caster tire. From the second assumption, it was theoretically derived that the inclination of slope is dealt with by considering the inclined gravitational force at angles of the slope acting on a chair in a level plane. The equations of motion for a wheelchair with casters were numerically solved and experimentally verified by implementing the U-shaped turning tests.
社団法人日本機械学会の論文
2002-11-25