DESIGN AND DEVELOPMENT OF A NEW STABILIZATION MECHANISM FOR TWO-WHEELED WHEELCHAIR BY TAREQ M. K. ALTALMAS A thesis submitted in fulfilment of the requirement for the degree of Master of Science (Mechatronic Engineering) Kulliyyah of Engineering International Islamic University Malaysia JANUARY 2015
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DESIGN AND DEVELOPMENT OF A NEW
STABILIZATION MECHANISM FOR TWO-WHEELED
WHEELCHAIR
BY
TAREQ M. K. ALTALMAS
A thesis submitted in fulfilment of the requirement for the
degree of Master of Science (Mechatronic Engineering)
Kulliyyah of Engineering
International Islamic University Malaysia
JANUARY 2015
ii
ABSTRACT
This research embarks on designing a new mechanism for transforming a four-
wheeled wheelchair into a two-wheeled wheelchair. It is known that wheelchair
system is a main means of mobility for the disabled and the elderly. A normal four
wheels wheelchair has some limitations where the wheelchair user is too depending on
the helper, which reduces their mobility if the assistance is not available. The standard
wheelchair nowadays only caters for outdoor environment where the space is not a
constraint. Therefore, the two-wheeled wheelchair is proposed to encourage
independence where many common tasks such as pick and place things can be done
independently and is suitable to be used in confined space i.e. home, office or library.
The proposed two-wheeled wheelchair was modeled to mimics a double inverted
pendulum scenario where Link2 was introduced to cater for the human weight. To
increase the confidence level of the modeling stage, a virtual prototype of a two-
wheeled wheelchair was developed with a human model. Analysis of the model was
conducted and simulated to study the actuators requirement and response
performance. The mathematical models were then derived to represent the two-
wheeled wheelchair. It was achieved that the equations derived represents the system
as a highly nonlinear and unstable system. The complexity of the system was reduced
through the linearization of the equations. Both linearized and nonlinear equations of
motions were tested with different control strategies, where the LQR was
implemented on the linearized model and the fuzzy logic controller was designed to
control the nonlinear model of the two-wheeled wheelchair. Upon satisfactory results
of analysis on the virtual prototype and mathematical models with controllers, a full
hardware prototype was developed. The controllers designed were tested
experimentally and it provides promising results where the four-wheeled wheelchair
was able to transform into a two-wheeled wheelchair and stabilized at the upright
position as required.
iii
4
Link1 and Link2
LQRFuzzy logic
controller
.
iv
APPROVAL PAGE
I certify that I have supervised and read this study and that in my opinion it conforms
to acceptable standard of scholarly presentation and is fully adequate, in scope and
quality, as a dissertation for the degree of Master of Science (Mechatronic
Engineering).
……………………………….....
Salmiah Ahmad
Supervisor
………………………………….
Shahrul Na'im Sidek
Co-Supervisor
I certify that I have read this study and that in my opinion it conforms to acceptable
standard of scholarly presentation and is fully adequate, in scope and quality, as a
dissertation for the degree of Master of Science (Mechatronic Engineering).
………………………………….
Md. Raisuddin Khan
Examiner
………………………………….
Amir Akramin Shafie
Examiner
This dissertation was submitted to the Department of Mechatronics Engineering and it
is acceptable as a fulfilment of the requirement for the degree of Master of Science
(Mechatronic Engineering).
……………………………….....
Md. Raisuddin Khan
Head, Department of
Mechatronics Engineering
This dissertation was submitted to the Kulliyyah of Engineering and it is acceptable as
a fulfilment of the requirement for the degree of Master of Science (Mechatronic
Engineering).
………………………………….
Md. Noor Bin Salleh
Dean, Kulliyyah of Engineering
v
DECLARATION
I hereby declare that this dissertation is the result of my own investigation, except
where otherwise stated. I also declare that it has not previously or concurrently
submitted as a whole for any other degree at IIUM or other institutions.
Tareq ALTalmas
Signature……………………………. Date: …………………………
vi
INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA
COPY RIGHTS PAGE DECLARATION OF COPYRIGHT AND AFFIRMATION OF
No part of this unpublished research may be reproduced, stored in a retrieval
system, or transmitted, in any form or by any means, electronic, mechanical,
photocopying, recording or otherwise without prior written permission of the
copyright holder except as provided below.
i. Any material contained in or derived from this unpublished research
may only be used by others in their writing with due
acknowledgements.
ii. IIUM or its library will have the right to make and transmit copies
(print or electronic) for institutional or academic purposes.
iii. The IIUM will have the right to make, store in a retrieval system and
supply copies of this unpublished research if requested by other
universities and research libraries.
Affirmed by Tareq ALTalmas
……………………..….. ……………….…..
Signature Date
vii
ACKNOWLEDGEMENTS
In the name of Allah, the most Gracious, the most Merciful. Praise be to the Almighty
Allah s.w.t, the God of the universe, for his mercy and blessings that have been
granted to the author. Peace and blessings be upon His messenger Muhammad s.a.w,
his families and companions.
My greatest appreciation and thanks to my project supervisor, Assoc. Professor
Salmiah Ahmed for her precious supervision, guidance as well as help and support
throughout this research. Her invaluable time and energy, idea and knowledge and
patience in guiding me to complete this research are appreciated. Many fields and
aspects have been explored and learned under her supervision.
I would like to dedicate this work to my family. My special thanks for my
father Maher and my mother Sanaa for their Doaa'. Also for my brothers Hossam,
Khalel, Abdullah and Mohammed. And finally for my sister Areej.
I would like to acknowledge the Ministry of Science, Technology and
Innovation (MOSTI) under the e-science fund for funding this project throughout my
study.
viii
TABLE OF CONTENTS
Abstract .................................................................................................................... ii Abstract in Arabic .................................................................................................... iii Approval Page .......................................................................................................... iv Declaration ............................................................................................................... v Copyright Page ......................................................................................................... vi Acknowledgements .................................................................................................. vii List of Tables ........................................................................................................... x List of Figures .......................................................................................................... xi List of Symbols ........................................................................................................ xv
CHAPTER ONE: INTRODUCTION .................................................................. 1 1.1 Introduction and Motivations ................................................................. 1 1.2 Problem Statement ................................................................................. 2 1.3 Aims and Objectives of the Research .................................................... 3 1.4 Methodology .......................................................................................... 4 1.5 Proposed Two-Wheeled Wheelchair ...................................................... 6 1.6 Thesis Outlines ....................................................................................... 7 1.7 Summary ................................................................................................ 8
CHAPTER TWO: LITERATURE REVIEW ..................................................... 9 2.1 Introduction ............................................................................................ 9 2.2 Inverted Pendulum ................................................................................. 10 2.3 Double Inverted Pendulum .................................................................... 12 2.4 Rotary Inverted Pendulum System ......................................................... 14 2.5 Two-Wheeled Mobile Robots ................................................................ 16 2.6 Wheelchair on Two Wheels ................................................................... 22 2.7 Commercial Two-Wheeled Robots ........................................................ 24
CHAPTER THREE: MODELING OF A TWO-WHEELED
WHEELCHAIR ..................................................................................................... 29 3.1 Introduction ............................................................................................ 29 3.2 Modelling of Two-Wheeled Wheelchair Using Solidworks .................. 30
3.2.1 SolidWorks Software .................................................................... 30 3.2.2 Two-Wheeled Wheelchair Virtual Prototyping ............................ 32 3.2.3 3D Full Assembly and Body Specifications ................................. 34 3.2.4 Mates Specifications ..................................................................... 36 3.2.5 Human Weight Representation ..................................................... 37
3.3 Mathematical Modeling of the Two-Wheeled Wheelchair ................... 38 3.3.1 Energy Derivation ......................................................................... 39 3.3.2 Euler-Lagrange Equation of Motion ............................................. 42 3.3.3 State Space Equations ................................................................... 43
4.2 SolidWorks Motion Simulations ............................................................ 46 4.2.1 Turning Diameter and Working Area ........................................... 47 4.2.2 System Behavior without Forces .................................................. 48 4.2.3 Required Torque analysis for Link2 ............................................. 49 4.2.4 Required Torque analysis of wheels' motors ................................ 52 4.2.5 Required Torque analysis from the Main Motors without
Tilting Mechanism ........................................................................ 54 4.2.6 Required torque analysis from the main motors with tilting
mechanism .................................................................................... 55 4.3 Open Loop Poles and System Response for two-wheeled
wheelchair Linear Model ....................................................................... 56 4.4 Control System Requirements for Balancing the System ..................... 57 4.5 System Controllability ........................................................................... 58 4.6 Pole Placement Design ........................................................................... 59 4.7 Linear Quadratic Regulator .................................................................... 61 4.8 Fuzzy Controller Design and Analysis .................................................. 65 4.9 Summary ................................................................................................ 70
CHAPTER FIVE: HARDWARE IMPLEMENTATION AND TEST ............. 71 5.1 Introduction ............................................................................................ 71 5.2 Physical Prototype Description .............................................................. 71 5.3 Drive system ........................................................................................... 73
5.3.1 Motor selection ............................................................................. 74 5.3.2 Brushless DC Motor: .................................................................... 76 5.3.3 Brushed DC Motor (BDC) ............................................................ 77 5.3.4 Motors in the system ..................................................................... 78
5.5 Power system ......................................................................................... 88 5.6 Data Acquisition System (DAQ) ........................................................... 88 5.7 Main motors Analysis ............................................................................ 90 5.8 Experimental analysis of Fuzzy controller ............................................. 91 5.9 Summary ................................................................................................ 94
CHAPTER SIX: CONCLUSION AND RECOMMENDED WORK ............... 96 6.1 Conclusion .............................................................................................. 96 6.2 Contributions .......................................................................................... 97 6.3 Recommendation for further work ......................................................... 98
APPENDIX A PUBLICATIONS ........................................................................ 103 APPENDIX B INPUT AND OUTPUT USER INTERFACE OF SBDM-25A .. 104 APPENDIX C SPECIFICTIONS LIST OF THE BDC MOTOR DRIVER ....... 105 APPENDIX D PINS FUNCTIONS OF FD04A DC MOTOR DRIVER ............ 106 APPENDIX E TRUTH TABLE TO CONTROL THE DIRECTIONS OF
THE MOTORS ............................................................................ 107 APPENDIX F SENSOR SPECIFICATIONS ..................................................... 108 APPENDIX G MODULES THAT ARE USED AND ITS FUNCTIONS .......... 109
x
LIST OF TABLES
Table No. Page No.
4.1 If – then rules for the fuzzy controller (𝑒1, ∆𝑒1, 𝑒2, ∆𝑒2,) 68
5.1 Gains for the Input and output of the Fuzzy logic controller 92
xi
LIST OF FIGURES
Figure No. Page No.
1.1 Research methodology flowchart 5
2.1 Schematic diagram of inverted pendulum system on cart 10
2.2 Inverted pendulum systems on rail. 11
2.3 Schematic diagram of double inverted pendulum system with joint 13
2.4 Rotary inverted pendulums 15
2.5 Two-wheeled mobile robot 16
2.6 New configuration of two-wheeled vehicle with extendable link 19
2.7 Two-wheeled mobile robot for transporting human and good 20
2.8 Two-wheeled inverted pendulum robot 21
2.9 Visual nastran model of the wheelchair with human model 23
2.10 iBOT two-wheeled wheelchair 25
2.11 Segway® personal transporters 26
2.12 Personal urban mobility and accessibility (puma) 27