FULLY AUTOMATED SELF

CONTROLLED FOLDABLE HANDY

WHEELCHAIR
THIRD REVIEW
PRESENTED BY
M.ADHARSH - 962815114001
S.ARAVIND - 962815114005
K.SARAVANAN - 962815114039
N.JENISH - 962815114048

UNDER THE GUIDANCE OF

Dr.V.A.NAGARAJAN,M.E,Ph.d.
FUNDED BY
Tamil Nadu State Council for Science and
Technology, (TNSCST) 1
Government of Tamil Nadu
 INTRODUCTION
Wheel chair is a wheeled mobility device in which the
user sits.
People with walking disability is the common user of
the wheel chair.
Both Manual and automatic wheel chair is available in
the market.
Features is more in Automatic wheel chair when
compared to manual.
Our project is eliminating some specified drawbacks in
2
the existing types.
 LITERATURE REVIEW
Journal of Rehabilitation Research &
Development (JRRD)
Smart Wheelchair
(Richard C. Simpson, PhD, ATP ,Department of Rehabilitation Science and
Technology, University of Pittsburgh, )

Several studies have shown that both children and adults

benefit substantially from access to a means of independent
mobility.
wheelchairs, a segment of the disabled community finds it
difficult or impossible to use wheelchairs independently.
3
 CON..

International Research Journal of Engineering and

Technology (IRJET)
Electric Wheelchair for Physically Challenged

This project utilizes the power from the lead acid batteries
which are rechargeable.
 This work also concentrates on integration of GPS and GSM

system.
Joystick controller based mobility aid wheelchair has been
designed for the all possible direction of movements.
4
 CON..

Shodhganga: a reservoir of Indian theses

@ INFLIBNET

 Wheelchairs with Automated Navigation

(AGWs) are guided by several means.

 The most conventional method being sensing

reflective tape markers on the floor using photo
detection sensors installed on the wheelchair.

 Self-transfer devices to facilitate transfer of a

wheelchair dependent person from one surface to
another, particularly addressing transfer to a toilet
commode.
5
 MANUAL TYPE WHEEL CHAIR
Product Description

 Fixed armrest and footrest KosmoCare Pride Imported

Commode Wheelchair
with detachable commode.
 Rexine upholstery with MS
Chrome Plated Foldable
frame style.
 Seat width: 18 inch , Total
Height : 34 inch.

 Net weight: 23 kg , Max

User Weight Capacity : 100
kgs.
Rs 6,990.00 6
 AUTOMATED WHEEL CHAIR
Product description

 Pristine FLEX, the signature lifestyle

powered wheelchair comes with

revolutionary Split Frame Technology.

 Unlike normal suspension systems,

the Split Frame Technology (Patent

filed).

 The stylish body panels, the lights, the

seats are all designed to maximum Rs 2,87,700.00 7

comfort and safety.

 FOCUSED AREAS

 Seating arrangement

 Portability

 Versatility

 Automation

 Economical feasibility

 Safety and Security

8
 OUR FEATURES
 Vertical height adjustment seat.

 Easy switch over to Stretcher from Wheel chair and

vice versa.
 Easily foldable and convertible to trolley bag.

 Motor powered mobility system.

 Reverse camera, Emergency alarm, Reverse alarm to

ensure the safety and security.
 Provided with Anti-Lost Theft Device with GPS
Locator.
9
 BLOCK DIAGRAM

Control Unit

Scissor Jack –
Motor Assembly DPDT

Battery
Steering System
Wheelchair
Movement

Motor Powered
Rear Wheel

10
BASIC ANATOMY

11
 FRAME WORK

Components Used For Frame Work

DC MOTOR
PLYWOOD
(12V,12.5 Kg-cm)
(600x500x19)

NYLON WHEEL
(100 mm dia)

12
BATTERY
CONNECTING
(12 V,7.5A)
WIRES
DESIGN AND CALCULATION

Total self weight of the system = 15 kg

Total design load = 35 kg

Available power = V*I

= 12* 7.2

= 86.4 watts

Required power = Torque * angular velocity

Torque = coefficient of friction * load *

radius of the wheel

Torque = 6.25 kg per cm

Required power = 20.4 watts 13

Base Work

Front wheels

Base frame

Motor
powered
Rear wheels

Connecting
wire
14
VERTICAL HEIGHT ADJUSTABLE SEAT

KD smart chair power electric15

Quantum i-level smart
lightweight wheelchair
wheel chair
Block Diagram Of Vertical Height Adjustment

SCISSOR WIPER
JACK MOTOR

BATTERY DPDT

16
Components Used For Vertical Height Adjustment

SCISSOR JACK
WIPER MOTOR
(400 Kg lifting capacity)
(12 V,DC)

CONNECTING
WIRES

17

BATTERY
(12 V,7 A) DPDT SWITCH
Design and calculation

Available battery power = V * I

= 12 * 7.2 =86.4 watts
Torque of wiper motor = 13 Nm
Required torque = coefficient of friction *
force * length of the link
Maximum force act
on the link = 100 N
Required torque = 5.4 Nm
Power required to lift = 36 watts

18
Minimum height position Maximum height position
(130mm) (320mm)

19
 STEERING SYSTEM

Components used

BATTERY DC MOTOR SPEED

(12 V,7 A) DPDT SWITCH CONTROLLER

20
WIPER MOTOR
(12 V,DC)
21
 Control board
Switch Switch
For Steering For height adjustment

Switch
For E Emergency
horn Switch

DPDT DPDT DPDT 22

for wheel for for height
drive Steering adjustment
 Braking system

 Mechanical braking system is used

 Three main components such as break levers,
Bowden cable, drum.
 The Bowden cables connect the leaver and caliper
drum.
 The break assembly is fitted with front wheel for
arresting the front wheel when pressing the leaver.

23
Design and calculation

Torque acting on the wheel = 1.25 Nm

Braking force act on the
wheel = 84 N
Tension act on the cable = 170 N ( F.O.S = 2)
Torque act on the left side
of the pivot = 8.5 Nm
Finding the braking force applied on the handle
equate the torque act on the both side of the pivot
Braking force = 8.5 /0.1
= 85 N
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 EXTRA FEATURES

Reverse alarm Reverse Camera Horn

Emergency alarm Anti-thief device 25

Power bank
GPS locater
PROJECT BUDJET
SL: COMPONENTS QUANTITY COST(Rs)
NO
1 Scissor jack 1 2000
2 12V DC motor 2 1500
3 12V DC Wiper 2 1500
Motor
4 4 inch wheel 4 1000
5 2 inch rotating 3 200
trolley wheel
6 Plywood and - 1500
cardboard
7 Battery 12V 2 1400
8 Braking system - 550
9 DC Motor 2 800
Controller
10 Rear view camera 1 750
11 Anti-Theft GPS 1 250
Locator
12 Control system - 250
13 Seat arrangement - 500
14 Trolley bag - 1500
assembly 26
TOTAL 13700
 DIFFICULTIES FACED IN
MANUFACTURING

 Back lash error in the trail of telescopic type steering system.

 Improper selection of wiper motor for vertical height adjustment.

 Misalignment of Scissor jack – wiper motor assembly.

 Oversize of Trolley Bag Assembly.

 Fixing of braking handle in control unit

 Soldering of DPDT switches with connecting wires

27
 CONCLUSION
 The Fully Automated Self-controlled Foldable Handy
Wheelchair has been designed and fabricated
satisfactorily.

 It is a user friendly device with low production cost.

 The disabled people will more comfortable by the

height adjustable seat-stretcher arrangement.

 User can use their own mobile phones for the features
like rear view and GPS tracking.

 The Android based apps for the same purpose can be

easily downloaded from Google play store. 28
FUTURE WORKS
 Can be integrated with the following features, to get
more autonomous characteristics
 IOT based operations.
 Obstacle sensing system.
 Artificial Intelligence (AI).
 Adaptive Front Lighting System (AFS).
 Adaptive Cruise Control (ACC).
 Lane Departure Warning System (LDWS).
 Pedestrian Detection and Avoidance System (PDAS).

29
REFERENCES
 Richard Simpson, “The Smart Wheelchair Component
System”
 International Research Journal of Engineering and
Technology (IRJET) e-ISSN: 2395 -0056 Volume: 03 Issue:
05 Electric Wheelchair for Physically Challenged P.
Swapna , Dr. B. Sharmila, Y. Dharshan.
 International Journal of Advanced Research in
Electronics and Communication Engineering (IJARECE)
Volume 2, Issue 4, April 2013 ,Automatic wheelchair for
physically disabled persons” ]
 Arun Manohar Gurram, P.S, V Ramana Rao, Raghuveer
Dontikurti,Solar Powered Wheelchair Mobility for
Physically Challenged‟, International Journal of Current
Engineering and Technology, Vol.2, No. 1, 2012, pp. 211-
214. 30
 CON…

 Humaira Salmin, Hafiz Rakibul, Pratik Kumar Kundu, B.M.

Fahimid Jahur Shuvo, K.B.M. Nasiruzzaman and Rahman MD.
Moshior, “Design and implementation of an Electric Wheel- Chair
to Economize it with Respect to Bangladesh‟, International
Journal of Multidisciplinary Sciences and Engineering, Vol. 5,
No. 2, 2014, pp. 18 – 22 .

Miller DP, Slack MG, “Design and testing of a low-cost Robotic

wheelchair prototype” Auton Robots

 R. A. Brooks, "A Robust Layered Control System for a Mobile

Robot", (IEEE) Journal of Robotics and Automation, RA-2, 1986.
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