Table 2 Parameters of developed EPW
Parameter | Symbol | Value |
|---|---|---|
Wheel radius | r | 0.125 m |
Half-length of rotary link | l | 0.13 m |
Center of mass of body base | \(h_{\text {b}}\) | 0.2528 m |
Center of mass of seat | \(h_{\text {s}}\) | 0.617 m |
Mass of wheel | \(m_{\text {w}}\) | 1.65 kg |
Mass of rotary link | \(m_{\text {l}}\) | 7.4 kg |
Mass of body base | \(m_{\text {b}}\) | 50.0 kg |
Mass of slider (including payload) | \(m_{\text {s}}\) | 98.5 kg |
Total mass of wheelchair | M | 169.9 kg |
Inertia of wheel | \(J_{\text {w}}\) | \(0.00965\hbox { kgm}^{2}\) |
Inertia of rotary link | \(J_{\text {l}}\) | \(0.107\hbox { kgm}^2\) |
Inertia of body base | \(J_{\text {b}}\) | \(3.4\hbox { kgm}^{2}\) |
Inertia of slider | \(J_{\text {s}}\) | \(1.23\hbox { kgm}^{2}\) |