Study of an all-terrain vehicle for disabled people. The ...FoRS – Centre de Formation, Recherche,...
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Randochar Environment Accompanying person Randochar displacement Automation system Settings Energy supply Disabled person Study of an all-terrain vehicle for disabled people. The RandoChar project. FoRS – Centre de Formation, Recherche, Services – Haute Ecole de Namur-Liège-Luxembourg (HENALLUX) HENALLUX – Département Ingénieur Industriel Pierrard, Rue d’Arlon 112 B – 6760 VIRTON e-mail [email protected] Site web FoRS www.fors-ing-henallux.be J. Lecointre, B. Hubert, J. Baudry, F. Binsfeld, F. Richard, J.-L. Quibus, L. Gueldre, M. Bernard Haute Ecole de Namur Liège Luxembourg (HENALLUX) – Département Ingénieur Industriel de Pierrard – Virton Summary: Current vehicles for the transportation of disabled people on country roads (e.g. St. James' Way) are inadequate and require external assistance. They provide such a sense of imbalance that people usually give up. We thus had the idea of designing a vehicle intended to transport disabled people on country roads, a vehicle which is safe and requires very little support: here comes the Randochar project! The work consists of the study, the modeling and the design of an all-terrain vehicle for the transportation of disabled people. A system designed to maintain the vehicle tray horizontal, on which seats the wheelchair, is required for safety and stability [1], [2]. The mathematical modeling of the vehicle has been done. Calculations have shown that the stabilization of the tray rely on two electric actuators controlled by an automation system receiving the information about the tray's inclination via a gyroscope [3]. Belgian Physical Society General Scientific Meeting 2013 Université Catholique de Louvain Louvain-la-Neuve, Belgium References [1] Y. Mortureux, AMDE(C), Techniques de l'ingénieur, SE 4 040 [2] D. Noyes, F. Peres, Analyse des systèmes, Techniques de l'ingénieur, AG 3 520 [3] B. Hubert, J. Lecointre, Étude et modélisation du maintien horizontal de l'assiette d'un véhicule tout-terrain pour personnes à mobilité réduite, Revue ISILF, mai 2013 Step 1 : Functional analysis Step 2 : Mathematical modeling 1D 2D 3D Step 3 : Mathematical results Height (mm) Height (mm) Time (s) Front (Z1 Z3) Rear (Z2 Z4) Angle (rad) 25mm obstacle Gravity center Wheels’ center Angles Height (mm) Height (mm) Time (s) Angle (rad) 200mm obstacle Gravity center Wheels’ center Angles Front (Z1 Z3) Rear (Z2 Z4) Step 4 : Design n°1 Step 6 : Design n°2 Step 7 : Propulsion The electric batteries (Lithium- Ion) and the four electric motors (low speed – high torque) have yet to be dimensioned and carefully selected. Control system Tilt sensor - Silicium inclinometer - Fast response time - ± 30° Automation system - S7-1200: CPU 1214C - Analogic modules Step 5 : Automation Step 8 : Prototype Lastly, a prototype will be made...
Transcript of Study of an all-terrain vehicle for disabled people. The ...FoRS – Centre de Formation, Recherche,...
Randochar
Environment
Accompanying person
Randochar displacement
Automation system
Settings
Energy supply
Disabled person
Study of an all-terrain vehicle for disabled people.
The RandoChar project.
FoRS – Centre de Formation, Recherche, Services – Haute Ecole de Namur-Liège-Luxembourg (HENALLUX)
HENALLUX – Département Ingénieur Industriel
Pierrard, Rue d’Arlon 112
B – 6760 VIRTON
e-mail [email protected]
Site web FoRS www.fors-ing-henallux.be
J. Lecointre, B. Hubert, J. Baudry, F. Binsfeld, F. Richard, J.-L. Quibus, L. Gueldre, M. Bernard
Haute Ecole de Namur Liège Luxembourg (HENALLUX) – Département Ingénieur Industriel de Pierrard – Virton
Summary:
Current vehicles for the transportation of disabled people on country roads (e.g. St. James' Way) are inadequate and require external assistance. They provide such a sense of imbalance that people usually give up. We thus had the idea of designing a vehicle intended to transport disabled people on country roads, a vehicle which is safe and requires very little support: here comes the Randochar project!
The work consists of the study, the modeling and the design of an all-terrain vehicle for the transportation of disabled people. A system designed to maintain the vehicle tray horizontal, on which seats the wheelchair, is required for safety and stability [1], [2].
The mathematical modeling of the vehicle has been done. Calculations have shown that the stabilization of the tray rely on two electric actuators controlled by an automation system receiving the information about the tray's inclination via a gyroscope [3].
Belgian Physical Society
General Scientific Meeting 2013
Université Catholique de Louvain Louvain-la-Neuve, Belgium
References [1] Y. Mortureux, AMDE(C), Techniques de l'ingénieur, SE 4 040 [2] D. Noyes, F. Peres, Analyse des systèmes, Techniques de l'ingénieur, AG 3 520 [3] B. Hubert, J. Lecointre, Étude et modélisation du maintien horizontal de l'assiette d'un
véhicule tout-terrain pour personnes à mobilité réduite, Revue ISILF, mai 2013
Step 1: Functional analysis
Step 2: Mathematical modeling
1D 2D 3D
Step 3: Mathematical results
Hei
ght
(mm
) H
eigh
t (m
m)
Time (s)
Front (Z1 Z3) Rear (Z2 Z4)
An
gle
(rad
)
25mm obstacle
Gravity center
Wheels’ center
Angles
Hei
ght
(mm
) H
eigh
t (m
m)
Time (s)
An
gle
(rad
)
200mm obstacle
Gravity center
Wheels’ center
Angles
Front (Z1 Z3) Rear (Z2 Z4)
Step 4: Design n°1
Step 6: Design n°2
Step 7: Propulsion The electric batteries (Lithium-Ion) and the four electric motors (low speed – high torque) have yet to be dimensioned and carefully selected.
Control system
Tilt sensor - Silicium inclinometer - Fast response time - ± 30°
Automation system - S7-1200: CPU 1214C
- Analogic modules
Step 5: Automation
Step 8: Prototype Lastly, a prototype will be made...
