Configuration and tip-over stability analysis for stair-climbing of a new-style wheelchair robot

In this paper, a wheelchair robot equipped with new-style variable-geometry-tracked mechanism is proposed. This new-style mechanism can adapt to convex terrain and turn to concave geometry by active control of track tension, based on which the terrain adaptability of the wheelchair robot is improved. Aiming at climbing stairs, the transformation rule of robot configuration is presented, the description of passenger's attitude and action is established. Following that, the tip-over stability analysis and simulation are performed with Force-Angle stability measure, and the variation of the tip-over stability margin of the robot under different conditions of passenger's attitude and action during stair-climbing is obtained. The analysis and simulation results provide a valid reference to the wheelchair robot's potential application.