An Analytical Modelling of Demand for Driving Torque of a Wheelchair with Electromechanical Drive

Mateusz Kukla, Bartosz Wieczorek, Łukasz Warguła, Jan Górecki and Marcin Giedrowicz
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Mateusz Kukla: Faculty of Mechanical Engineering, Institute of Machine Design, Poznan University of Technology, 60-965 Poznań, Poland
Bartosz Wieczorek: Faculty of Mechanical Engineering, Institute of Machine Design, Poznan University of Technology, 60-965 Poznań, Poland
Łukasz Warguła: Faculty of Mechanical Engineering, Institute of Machine Design, Poznan University of Technology, 60-965 Poznań, Poland
Jan Górecki: Faculty of Mechanical Engineering, Institute of Machine Design, Poznan University of Technology, 60-965 Poznań, Poland
Marcin Giedrowicz: Faculty of Architecture, Institute of Architecture and Physical Planning, Poznan University of Technology, 60-965 Poznań, Poland

Energies, 2021, vol. 14, issue 21, 1-20

Abstract: This study aimed at analysing the influence of the position of the centre of gravity variability and the movement velocity on the demand for a torque and work time coverage of a wheelchair with an electromechanical drive. The variable parameter in the study was the configuration of the wheelchair, namely changes in the position of the batteries which changed the weight distribution. An analytical model describing the demand for torque was used in the analysis. The set of equations was introduced into the numerical calculation software. Simulations were carried out which allowed it to analyse selected parameters of the wheelchair dynamics. An increase in the torque demand was observed due to the increase in the mass of the system from 427.7 N to 533.1 N, ranging from 6.1% to 31.6% at the simulated velocity v7 = 4.2 m/s. The increase in the demand for torque due to the increase in velocity of the wheelchair from v2 = 1.05 m/s to v7 = 4.2 m/s ranged from 25.9% to 31.6% compared to the reference velocity v1 = 0.525 m/s. The centre of gravity of the wheelchair structure localization has a non-linear impact on the analysed values. At the same time, it was not possible to define its nature—this issue remains open and requires further research.

Keywords: centre of gravity; wheelchair; estimation the working load; modelling of the electromechanical drives; electromechanical drives (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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