Integrated modelling and design for realizing a two-wheeled wheelchair for disabled

Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better manoeuvrability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modelling and con...

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Main Authors:	Altalmas, Tareq, M.K., Aula, Abqori, Ahmad, Salmiah, Tokhi, Mohammad Osman, Akmeliawati, Rini
Format:	Article
Language:	English English
Published:	Taylor & Francis 2016
Subjects:	TA168 Systems engineering TA174 Engineering design TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/50700/ http://irep.iium.edu.my/50700/ http://irep.iium.edu.my/50700/ http://irep.iium.edu.my/50700/1/Integrated_Modelling_and_Design_for_Realizing_a_Two_Wheeled_Wheelchair_for_Disabled.pdf http://irep.iium.edu.my/50700/4/50700_Integrated%20modeling%20and%20design%20for%20realizing%20a%20two-wheeled_Scopus.pdf

id	iium-50700
recordtype	eprints
spelling	iium-507002017-03-20T03:17:11Z http://irep.iium.edu.my/50700/ Integrated modelling and design for realizing a two-wheeled wheelchair for disabled Altalmas, Tareq, M.K. Aula, Abqori Ahmad, Salmiah Tokhi, Mohammad Osman Akmeliawati, Rini TA168 Systems engineering TA174 Engineering design TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better manoeuvrability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modelling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair. Most common modelling techniques have been accomplished by researchers utilizing the basic Newton’s Laws of motion and some have used 3D tools to model the system where the models are much theoretical and quite far from the practical implementation. This paper is aimed at closing the gap between the conventional mathematical modelling approaches where the integrated 3D modelling approach with validation on the actual hardware implementation was conducted. To achieve this, both nonlinear and a linearized model in terms of state space model were obtained from the mathematical model of the system for analysis and, thereafter, a 3D virtual prototype of the wheelchair was developed, simulated and analysed. This have increased the confidence level for the proposed platform and facilitated the actual hardware implementation of the two-wheeled wheelchair. Results show that the prototype developed and tested has successfully worked within the specific requirements established. Taylor & Francis 2016-05-17 Article PeerReviewed application/pdf en http://irep.iium.edu.my/50700/1/Integrated_Modelling_and_Design_for_Realizing_a_Two_Wheeled_Wheelchair_for_Disabled.pdf application/pdf en http://irep.iium.edu.my/50700/4/50700_Integrated%20modeling%20and%20design%20for%20realizing%20a%20two-wheeled_Scopus.pdf Altalmas, Tareq, M.K. and Aula, Abqori and Ahmad, Salmiah and Tokhi, Mohammad Osman and Akmeliawati, Rini (2016) Integrated modelling and design for realizing a two-wheeled wheelchair for disabled. Assistive Technology: The Official Journal of RESNA. pp. 1-53. ISSN 1040-0435 E-ISSN 1949-3614 http://dx.doi.org/10.1080/10400435.2016.1140688 10.1080/10400435.2016.1140688
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TA168 Systems engineering TA174 Engineering design TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TA168 Systems engineering TA174 Engineering design TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Altalmas, Tareq, M.K. Aula, Abqori Ahmad, Salmiah Tokhi, Mohammad Osman Akmeliawati, Rini Integrated modelling and design for realizing a two-wheeled wheelchair for disabled
description	Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better manoeuvrability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modelling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair. Most common modelling techniques have been accomplished by researchers utilizing the basic Newton’s Laws of motion and some have used 3D tools to model the system where the models are much theoretical and quite far from the practical implementation. This paper is aimed at closing the gap between the conventional mathematical modelling approaches where the integrated 3D modelling approach with validation on the actual hardware implementation was conducted. To achieve this, both nonlinear and a linearized model in terms of state space model were obtained from the mathematical model of the system for analysis and, thereafter, a 3D virtual prototype of the wheelchair was developed, simulated and analysed. This have increased the confidence level for the proposed platform and facilitated the actual hardware implementation of the two-wheeled wheelchair. Results show that the prototype developed and tested has successfully worked within the specific requirements established.
format	Article
author	Altalmas, Tareq, M.K. Aula, Abqori Ahmad, Salmiah Tokhi, Mohammad Osman Akmeliawati, Rini
author_facet	Altalmas, Tareq, M.K. Aula, Abqori Ahmad, Salmiah Tokhi, Mohammad Osman Akmeliawati, Rini
author_sort	Altalmas, Tareq, M.K.
title	Integrated modelling and design for realizing a two-wheeled wheelchair for disabled
title_short	Integrated modelling and design for realizing a two-wheeled wheelchair for disabled
title_full	Integrated modelling and design for realizing a two-wheeled wheelchair for disabled
title_fullStr	Integrated modelling and design for realizing a two-wheeled wheelchair for disabled
title_full_unstemmed	Integrated modelling and design for realizing a two-wheeled wheelchair for disabled
title_sort	integrated modelling and design for realizing a two-wheeled wheelchair for disabled
publisher	Taylor & Francis
publishDate	2016
url	http://irep.iium.edu.my/50700/ http://irep.iium.edu.my/50700/ http://irep.iium.edu.my/50700/ http://irep.iium.edu.my/50700/1/Integrated_Modelling_and_Design_for_Realizing_a_Two_Wheeled_Wheelchair_for_Disabled.pdf http://irep.iium.edu.my/50700/4/50700_Integrated%20modeling%20and%20design%20for%20realizing%20a%20two-wheeled_Scopus.pdf
first_indexed	2023-09-18T21:11:41Z
last_indexed	2023-09-18T21:11:41Z
_version_	1777411295160565760

Integrated modelling and design for realizing a two-wheeled wheelchair for disabled

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