Entwicklung eines automatischen Treppensteigmoduls für ... · Dr. Janosch Nikolic Innovation in...
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Florian Braun Florian Braun Prof. Dr. Christian Bermes Dr. Janosch Nikolic Innovation in Products, Processes and Materials Graduate Candidate Examiner Co-Examiner Subject Area Entwicklung eines automatischen Treppensteigmoduls für Cybathlon Development of an automated stair climbing mechanism for Cybathlon The wheelchair ZED on the tilted path obstacle. Rear stair climbing mechanism. Front stair climbing mechanism. Introduction: Cybathlon is a competition organized by ETH Zurich for people with disabilities. The HSR competes with the team HSR Enhanced in the powered wheelchair race with its wheelchair ZED. In the race, the wheelchair needs tp negotiate several obstacles that are based on real world situations that wheelchair users can face. The tasks are to drive under a table, a slalom, ramp and door, rough terrain, tilted path and stairs. Objective: The goal for the HSR Enhanced team is to complete all tasks of the powered wheel-chair competition. One of the main obsta-cles is climbing the stairs. This task is re-warded with 30 out of 60 challenge points for the race. The goal of this thesis is to develop and build an automated stair climbing mechanism for the powered wheelchair ZED. For the Cybathlon compe-tition the wheelchair has to climb a stair with three steps up and down. To develop the stair climbing mechanism, it is essential to take all other components of the wheelchair into account. Result: The stair climbing mechanism is designed to lift the front or rear wheels one step up or down with each revolution. This is realized with a mechanism with two crank handles and a linkage to provide a trajectory to lift a wheel one step up or down. The main challenge is the restricted construction space below the chassis to achieve the required clearance height to overcome all Cybathlon tasks. In the tight space available, the mechanism must be very compact and withstand the high forces during the climbing of the stairs. The mechanism is located between the front and rear wheels and fixed to the chassis of the wheelchair. The output tra-jectory is similar to an ellipse with a height of 320 mm and a width of 200 mm. With this trajectory, it is possible to climb up and down the stairs with the same mechanism.
Transcript of Entwicklung eines automatischen Treppensteigmoduls für ... · Dr. Janosch Nikolic Innovation in...
FlorianBraun
Florian BraunProf. Dr. Christian BermesDr. Janosch NikolicInnovation in Products, Processes and Materials
Graduate CandidateExaminerCo-ExaminerSubject Area
Entwicklung eines automatischen Treppensteigmoduls für CybathlonDevelopment of an automated stair climbing mechanism for Cybathlon
The wheelchair ZED on the tilted path obstacle.
Rear stair climbing mechanism.
Front stair climbing mechanism.
Introduction: Cybathlon is a competition organized by ETH Zurich for people with disabilities. The HSR competes with the team HSR Enhanced in the powered wheelchair race with its wheelchair ZED. In the race, the wheelchair needs tp negotiate several obstacles that are based on real world situations that wheelchair users can face. The tasks are to drive under a table, a slalom, ramp and door, rough terrain, tilted path and stairs.
Objective: The goal for the HSR Enhanced team is to complete all tasks of the powered wheel-chair competition. One of the main obsta-cles is climbing the stairs. This task is re-warded with 30 out of 60 challenge points for the race. The goal of this thesis is to develop and build an automated stair climbing mechanism for the powered wheelchair ZED. For the Cybathlon compe-tition the wheelchair has to climb a stair with three steps up and down. To develop the stair climbing mechanism, it is essential to take all other components of the wheelchair into account.
Result: The stair climbing mechanism is designed to lift the front or rear wheels one step up or down with each revolution. This is realized with a mechanism with two crank handles and a linkage to provide a trajectory to lift a wheel one step up or down. The main challenge is the restricted construction space below the chassis to achieve the required clearance height to overcome all Cybathlon tasks. In the tight space available, the mechanism must be very compact and withstand the high forces during the climbing of the stairs. The mechanism is located between the front and rear wheels and fixed to the chassis of the wheelchair. The output tra-jectory is similar to an ellipse with a height of 320 mm and a width of 200 mm. With this trajectory, it is possible to climb up and down the stairs with the same mechanism.
