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Figure 10 | ROBOMECH Journal

Figure 10

From: Development and analysis of a novel add-on drive mechanism for motorizing a manual wheelchair and its step climbing strategy

Figure 10

Simulation results (motion of the mechanism). When the wheel shaft moves to the position C wheelie by the proposed mechanism, the line tangential to the large wheels and the drive wheel is defined as G wheelie . When the large wheels hover above the ground, the front casters are on the step and the drive wheel is on the ground below the step.

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