Design and Manufacturing Proposal for a

Stair-Climbing Wheelchair without an External Power Source

by
Alfredo Rivera
Timothy Studley
SUBMITTED TO THE DEPARTMENT OF MECHANICAL ENGINEERING IN
PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF
BACHELOR OF SCIENCE
AT THE
MASSACHUSETTS INSTITUTE OF TECHNOLOGY
JUNE 2007
2007 Alfredo Rivera. All rights reserved.
2007 Timothy Studley. All rights reserved.
The author hereby grants to MIT permission to reproduce
and to distribute publicly paper and electronic
copies of this thesis document in whole or in part
in any medium now known or hereafter created.
Signature of Author:
Sn- , Mc
Alfredo Rivera
Department of Mechanical Engineering
5/11/2007
Signature of Author:
Certified by:
Accepted by:
MASSACHUSETTS INSITTE.,
OF TECHNOLOGY
J UN2
1
2007
SLIBRARIES
/ TimothyKtudley
Departme echania ineering
/" / / /5)111/2007
7 Da
lFrey
ss tenrofessor of Mechanical E ineering
Supervisor
, ' John H. Lienhard V
,rofessor of Mechanical Engineering
Chairman, Undergraduate Thesis Committee
1
Design and Manufacturing Proposal for a
Stair-Climbing Wheelchair without an External Power Source
by
Alfredo Rivera
Timothy Studley
Submitted to the Department of Mechanical Engineering
on May 11, 2007 in partial fulfillment of the
requirements for the Degree of Bachelor of Science in Engineering
as recommended by the Department of Mechanical Engineering
ABSTRACT
With over two million wheelchair users in the United States, many buildings have
struggled to provide accessible elevators and ramps for the disabled. The only other
option for the disabled to ascend stairs is to purchase a high-tech battery-operated
wheelchair with elaborate sensors and gyroscopes, which can cost around $25,000. As a
result, there is a high demand for a cheap and efficient way to climb stairs with a practical
wheelchair. With the safety of the user as a main concern, it is the goal of this report to
provide a light-weight, inexpensive stair-climbing wheelchair.
In order to significantly reduce cost of production, the wheelchair will not have
any outside power source. The user's strength is the only means of energy for climbing.
Our specific design relies on three critical modules: wheels with retractable spokes, a
lock-in ratchet on the axel, and a seat-tilting mechanism. By focusing on integrating
light-weight materials into the design, the force required to operate the wheelchair should
be very manageable.
The next stages of manufacturing were determined and explicitly outlined. Using
SolidWorks and previously developed components, a complete manufacturing proposal
has been formulated. The production calls for two additional wheels with retractable
spokes, two locking mechanisms of the main axel, and a tilt-in-space feature using gas
springs. The final product should provide the disabled with a safe, reliable, and
inexpensive wheelchair capable of ascending nearly any staircase.
Thesis Supervisor: Daniel Frey
Title: Associate Professor of Mechanical Engineering
Introduction:
The disabled currently have only one option for climbing stairs when elevators
and ramps are not accessible: a battery-powered wheelchair with gyroscopes and sensors.
Typically these types of wheelchairs are heavy, expensive, and difficult to maneuver. The
most popular version is called the iBot (shown below in Figure 1), which was designed
by Dean Kamen, the developer of the Segway scooter. The iBot is FDA (Food & Drug
Administration) approved and guarantees user satisfaction. However, because this chair is
equipped with high-tech sensors and gyroscopes, it is highly priced at around $26,000.
With an estimated two million wheel-chair users in the United States, only a very small
proportion has purchased the expensive battery-powered wheelchair.
Figure 1: Independence iBot wheelchair in stair-climbing mode
Considering the majority of users are without this luxury, we believe there is a high
demand for an inexpensive alternative. By eliminating the external power source and
relying on the user as the energy input, a low-cost stair-climbing wheelchair is a realistic
option.
The main difficulty in producing a working prototype is that the final product
must be extremely safe. Companies and users do not want to invest in a product that
L
involves a high risk of failure. If anything were to happen to the wheelchair while it was
ascending or descending a staircase, the consequences would likely be severe. A disabled
person does not have the ability to control the chair once it begins to fall. With this in
mind, many developers have either nixed the production of the wheelchair or resorted to
safer high-cost alternatives. We hope that our prototype can be the first to break into this
market by emphasizing its safety, low-cost, and light weight.
Background:
Professor Ernesto Blanco previously designed a wheelchair that used spring-
loaded spokes on the wheels. His original idea relied on a series of motors as a power
source. A miniature working model of Professor Blanco's design is shown in Figure 2.
Figure 2: Model of Professor Blanco's motorized stair-climbing wheelchair
However, he found that the estimated cost to produce the wheelchair with the motors was
too high for the market demand. Because of this, his designs started to focus more on
users "pulling" themselves upstairs, and as a result, the safety and strength of the user
became reoccurring issues.
In the summer of 2005, we undertook a UROP (Undergraduate Research
Opportunity) with Professor Blanco, and with the help of another undergraduate student,
we designed wheels with retractable, spring-loaded spokes. By incorporating our new
spoke design into some of Blanco's original ideas, we were able to start creating a new
design that involved users pulling the spokes in order to ascend stairs.
This report will provide complete overviews of the components that we have
already constructed, but will not go into tremendous detail regarding the production
process. The main goal of this report is to provide an outline of the necessary steps in
completing our current prototype. Due to time and budget constraints, along with the
unexpected retirement of Professor Blanco, the final manufacturing stages of this project
will need to take place at a later date. As a result, the bulk of this report focuses on the
additional construction that needs to be done in order for the wheelchair to be a
functional alpha prototype.
Design and Manufacturing Proposal:
The wheelchair we have designed includes four wheels with retractable spokes,
two locking ratchet mechanisms on the main axel, and a tilting mechanism to facilitate
the climbing process. The design relies on the user to scale up the stairs by pulling the
spokes of the main wheels toward his/her body. The wheels' spokes will catch the stairs
one by one and propel to user backward up the staircase at an appropriate recline. The
following manufacturing proposal will provide design parameters and production insight
for all of the critical modules. Precise SolidWorks drawings for these components are
included in the Appendix, while the actual files are available on a data CD as well.
Front Climbing Wheels:
The main wheels of the wheelchair are extremely unique components and by far
our most critical module. After being repeatedly altered over the past two years, the front
climbing wheels are the basis for all other design considerations. The wheels feature
spring-loaded spokes that retract when a normal force is applied to the rubber tip.
Because the spokes are secured by two concentric aluminum guides, the spokes jam
whenever a force is applied at an angle. This feature allows the wheel spoke to catch the
edge of a step and then consequently retract as the rotation proceeds. The rubber tips
provide an additional source of static friction on the stairs, which allows for a bit more
stability while climbing. Early bench level testing on the wheel indicated that the spokes
were capable of withholding the weight of nearly 200 pounds when applied perpendicular
to only one spoke. Figure 3 shows one of the retractable spoke wheels.
Figure 3: One of two large climbing wheels in stair-climbing mode
As for the wheels' ground use, the spokes also have the ability to remain retracted
within the wheel's frame. A circular piece of delrin rotates with the spokes around the
center of the wheel and holds the spokes in when the spoke-locking mechanism is
initiated. Aluminum handles on the outer frame of both wheels allow the user to rotate
the delrin pieces slightly in order to begin the latching sequence for the spokes.
Figure 4: The wheelchair has initiated ground use, and as the user travels
forward, the spokes will retract and stay inside the wheel.
Each spoke has a small triangular piece of delrin on its innermost end which acts as a
latch. When the handles initiate ground use, the user moves forward in the wheelchair,
and one by one the spokes begin to retract. A picture of the wheel with the spokes
retracted inside the body of the wheel is shown in Figure 5.
Figure 5: Spokes locked into the central delrin disk. A small rotation of the
handle will send them out into climbing mode again.
The delrin triangles catch on the L-shaped slits of the center delrin component and allow
the user to travel on level surfaces without the interference of the spokes.
Two circular pieces of lexan make up the frame of each wheel. The inner lexan
rim is connected to a delrin axel within the wheel, while the outer rim is connected to its
counterpart via 32 aluminum guides that were tightly fitted into slits on both sides. The
photos of the wheels reveal various drill holes and cut sections on the lexan that were
intended for other purposes but, in the end, were unnecessary.
There are, however, two important additions that need to be made to the wheel
before it is considered complete. The circumference of each lexan frame needs to be
fitted with a thin rubber "tire", seen on most wheelchairs. This will provide increased
static friction on the ground and on the stairs for increased control. An additional benefit
of this addition is the grip it provides for the users as they drive themselves on level
surfaces. These hard rubber tires are sold by many manufacturers in many different sizes,
and they simply snap on the frame. Four six-foot tires with quarter-inch cross-sections
need to be purchased and snapped on. The only other modification to the main wheel is
four tapped holes on the outer lexan pieces, which will be addressed below in the design
of the wheel's ratchet locking mechanism.
Locking Ratchet on Axel:
In order to insure the safety of the user, the wheels need to be prevented from
rolling forward during the ascent. With that in mind, the ratchet mechanism on the axel
needs to be able to withstand a high amount of torque. We have purchased an industrial-
strength ratchet (shown in Figure 6) from a car manufacturer.
Figure 6: Industrial-strength ratchet used in car manufacturing. The center
hexagon acts as a locking female piece.
The ratchet, which is used in most vehicles, prevents car seats from flying forward in the
event of a high-speed car crash. Due to the nature of its use, it is unlikely that the ratchet
itself would be the component to give out while climbing stairs.
The tricky concept inherent in this module is that the ratchet needs to be capable
of being activated for climbing and deactivated for ground use. Otherwise, the user would
be unable to drive forward on level surfaces. Our only option was to design a lock-in
mechanism that can activate the ratchet at the bottom of a staircase.
Figure 7: SolidWorks assembly screenshot of the wheel's outer lexan rim
with the ratchet (left) and the sliding rods (right).
The locking mechanism has been designed in SolidWorks to ensure it is
manufactured with appropriate parameters. The mechanism involves the user manually
activating the system by pushing the ratchets into the axels on the outside of both wheels.
The ratchet slides on four one-inch long steel rods. The four holes on the ratchet corners
will provide the means of the slide and will also be accompanied with delrin bearings in
order to minimize the kinetic friction of the slide. The rods will fit tightly into the tapped
holes in order to insure that the ratchet does not move freely during ascent or ground use.
The center of the ratchet is a hexagonal opening, which will act as the female
piece when locked. The axel at the center of each main wheel has a corresponding male,
hexagonal extrusion located on the outer side of each wheel.
Figure 8: Close-up of the customized axel for the main climbing wheel
These hexagonal axel pieces are actually hexagon nuts, which means they need to be
welded onto the axel after the main wheels have been permanently placed on the chair.
The welding of the nut and the axel threads will insure that the ratchet never unscrews the
male piece in this locking mechanism.
Figure 9: Ratchet mechanism locked into climb mode. The ratchet is
pressed against the outer lexan rim.
B :: n
When the ratchet is flush with the lexan frame, the main wheels are unable to
rotate forward. The body of the ratchet rotates with the wheel, while the hexagon pieces
interlock without rotation.
As a result of this new module, the main wheels need an additional modification.
Four holes need to be drilled in the outer lexan frames. The slide rods will be inserted
into these holes from the inside of the wheel frame. The holes are just under a quarter-
inch in diameter. The inner side of the hole needs to be tapped again half way through
the lexan with a 0.35 diameter drill. The rods, as detailed in Figure 10, are essentially
acting as bolts; the top parts of the rods have a wider diameter to get stuck within the
width of the lexan.
Figure 10: SolidWorks detail of one-inch long steel slide rod with a threaded
hole in the end for a washer and screw.
The aforementioned central delrin wheel piece (which is flush to the outer lexan) will
prevent the rod from moving inward during activation. Also, the outer end of the slide
rod will have a flathead screw holding a washer in order to prevent the ratchet from being
pulled out too far during ground use.
Rear Wheels:
To improve stability during stair climbing, our design includes two additional
wheels located at the rear of the chair, on each side. These rear wheels will provide an
extra two points of contact to improve balance while on stairs. The rear wheels have the
same general design and assembly as the main wheels. The differences from the main
wheels include the spoke length, lexan disk diameter, and the number of spokes (8).
Figure 11: SolidWorks of the rear wheel: one is exposed (top) to show inner
detail and the other (bottom) with both lexan rims fitted together.
In addition, the rear wheels do not require the spokes to be locked inside the body
of the wheel at any time. Thus, no locking mechanism for the spokes is required, but the
spokes should still be spring loaded to employ the same method of stair climbing as the
main wheels. Detailed dimensions and assembly diagrams of the rear wheels can be
found in the SolidWorks files that have been included with this document. They should
be made using the exact same processes and materials as the main wheels.
The same ratchets that are used on the main wheels will be applied to the rear
wheels. The rear wheels are only used during stair climbing, thus they only need to rotate
in one direction. As an added safety feature, the application of the ratchets here will also
resist the chair from rolling down the stairs. Since the ratchets are applied to the rear
wheels at all times, they can be incorporated into the center of the wheels. By mounting
the ratchets inside the lexan disks, we can save space and avoid a complicated system like
the one used on the main wheels.
The rear wheels should be attached to the chair frame using the same tubular steel
the frame itself is constructed of. Two 8-inch long pieces of tubular steel should be
welded to the frame at a 60 degree angle, so that the rear wheels are angled upwards
when the chair is flat. This angle will allow the rear wheels to have the proper contact
with the staircase when the chair is tilted for stair climbing.
The approximate connection points for the 8 inch steel tubes are shown in Figure 12
below.
Figure 12: Weld locations are shown for the tubular steel add-ons for the
additional rear, climbing wheels to be connected.
There should be a 90 degree bend at the end of each of the 8 inch tubular steel pieces. At
the bend, the tubes extend an additional 3 inches inward. The 3 inch extensions will
serve as mounting locations for the rear wheels. These extensions should be hexagonal in
shape, so that they pass through the center of the ratchets mounted inside the rear wheels.
The ratchets will allow smooth rotation in the desired direction and resist rotation down
the stairs.
Tilting Mechanism:
At the beginning of the project, we identified a reclining seat mechanism as a key
design parameter. The wheelchair user's center of mass must be transferred back during
stair climbing. This is to reduce the required force for climbing and to eliminate the
uncomfortable sensation of leaning down the stairs while climbing. The system we have
designed calls for the aid of a care giver to set the chair into a reclined position. The user
still climbs the stairs without any external help, but assistance is needed to recline the
chair and then return it to normal position at the top of the stairs.
The wheelchair frame should resemble that of a typical wheelchair. Only a few
modifications need to be made to incorporate the reclining mechanism we have designed.
We have shown where the necessary modifications need to be on a standard wheelchair
in the descriptions and diagrams below.
The first modification involves creating pivot points at the locations where the
bottom seat intersects the seat back. This location is shown in Figure 13.
Pivot
Point
Figure 13: Side view of wheelchair depicting the pivot point for the proposed
tilting mechanism.
A pivot on each side of the chair at this location will create a clamshell effect. The black
pipes that support the seat bottom and the blue pipes that support the seat back will
remain connected perpendicular to each other forming a seat structure. The armrests will
also remain fixed to the seat structure. The blue pipes below the seat bottom will remain
stationary, while the seat structure will be free rotate back. The pivot joint can be made
using a U - shaped piece of tubular steel for the bottom part of the joint and straight piece
of tubular steel coming down from the seat structure. The straight piece will fit inside the
middle of the U - shaped tubular steel. A pin driven through the entire assembly will
provide the connection, but allow the required rotation. Some sort of bearings should be
used to ensure smooth operation and to limit wear from rubbing at the joint.
This alteration essentially cuts the chair frame in half, with the only connection
points being the pivot locations at the back of the chair, on each side. There should be a
"stopper" on each side of the chair at the front, which the seat structure will rest on
during normal use. The location of such a stopper is shown in Figure 14.
Figure 14: Front view of the wheelchair depicting the dynamics and location of
the tilt stopper.
At this stage the chair frame has the ability to tilt back and sift the user's weight back
during stair climbing. The next components will ensure the seat remains locked in the
desired recline position throughout the duration of the ascent.
We have decided to use locking gas springs to secure the chair in a tilted position.
One gas piston on each side of chair will allow the seat structure to tilt backwards and
also permit a smooth descent back to the normal seat position. We recommend the
flexible version of the locking gas spring produced by International Gas Springs. This
product offers adjustable force option and can be manufactured to any size specification.
The locking mechanism operates when the plunger rod is depressed by opening a valve in
the piston. When the plunger rod is released the valve closes and the passage of oil or gas
is prevented, locking the piston in that position. This allows the piston to be locked into
any position, thus allowing the user to recline to any desired angle. A sample of some of
the various gas springs offered by International Gas Springs is shown in Figure 15.
Figure 15: Sample gas springs suggested for the tilting mechanism
The gas springs can be fitted with ball joint ends, and the corresponding mounting
brackets are also available from International Gas Springs. The ball joint ends allow the
gas spring the freedom to extend during the tilt without being bent. A detailed drawing of
the 90 degree mounted brackets can be found in the Appendix.
One set of brackets should be connected to the lower base of the frame and the others to
the bottom of the seat structure. These locations are indicated in Figure 16.
Figure 16: Bracket locations for the gas spring
The brackets should be soldered so that the actual connection points for the gas springs
are toward the inside of the chair frame. This allows the gas springs to extend and
contract without interruption and keeps the moving parts out of the way, while still
allowing access to the locking mechanisms.
As stated above, a care giver is required to physically tilt the seat structure back
while the user activates the locking mechanism at the desired angle. When stair climbing
is complete, the user can simply release the locking mechanism and the gas springs will
allow a smooth descent back to the normal seating position.
Analysis:
The following breakdown will provide insight into our design considerations and
material selections for the various components.
Front & Rear Climbing Wheels:
The delrin used in the climbing wheels is an acetyl resin engineering plastic
invented and sold by DuPont. It is especially useful in this application due to its very low
coefficient of friction and its superior durability. When the user initiates the stair-
climbing mode and activates the spokes on the front wheels, the user needs to apply
enough force to the handle in order to overcome the force of 16 spring-loaded spokes.
The triangular delrin pieces slide against the slits of the central delrin disk. The delrin-on-
delrin movement significantly reduces the potential friction involved in this activating
motion. Previous designs used triangular aluminum pieces on an aluminum disk, which
made it nearly impossible to pull the handle. When the central disk was changed to
delrin, the frictional force was still too high, and the aluminum triangles were cutting into
the delrin. The two linking delrin pieces was the most efficient and durable option.
As for the rims on the wheels, the material needed to be extremely durable. The
original plan called for Plexiglas, but we were afraid it might give way under the large
amounts of stress. The best option was to use lexan, a highly durable polycarbonate resin
thermoplastic. Using lexan allowed us to create 32 slits for aluminum guides without
sacrificing any of the material integrity.
The size of the rims is roughly 23 inches in diameter, the same size as traditional
main wheels on wheelchairs. With the rim size and common staircase dimensions
determined, the minimum number of spokes in the wheel was calculated to be 16. More
spokes could have been incorporated for increased control, but it was important to
maintain the minimum to help reduce the weight for climbing and eliminate the
unnecessary force of additional springs on the handle rotation.
Although our original bench-level experiments indicated each spoke could hold
nearly 200 pounds at a time, it is important to note that no single spoke will experience
such a load. Because the wheelchair has four points of contact on the stairs, the weight of
the user and structure will be distributed among them. The front wheel spokes will
experience a higher force than the rear spokes due to the lower center of gravity. An
additional benefit of having four climbing wheels is that the user has more control and is
more likely to remain straight throughout the ascent.
The number of spokes in the rear wheels was halved as a result of the reduced
wheel diameter. As mentioned with the front wheel, the minimum number of spokes
needed would also correspond to the optimum. However, the reduction of weight was the
main reason for deciding on the minimum number. Because the rear wheel spokes do not
need to be retracted for ground level use, the spring-loaded torque levels did not play a
factor in this decision.
Ratchet Use on Climbing Wheels:
As mentioned above, the type of ratchet used for the main and rear climbing
wheels is extremely durable and one of the strongest ratchets commercially available. Its
unique design ensures that the ratchet will not give out, no matter how much the user
weighs. While the ratchet itself leaves little uncertainty, the modules designed around it
may have their faults.
The manufacturing and installation of the slide rods for the main wheels are vital
for the success of the lock-in mechanism. The ratchet must be able to slide in and out of
the hexagonal nut on the axel, and the repeatability of this movement is essential for
prolonged use. If the rods are not exactly parallel to themselves and perpendicular to the
wheel, then the ratchet will not connect to the axel as desired. This defect would also
increase friction within the four outer holes of the ratchet and thus create more difficulty
in moving the ratchet. In an attempt to reduce this friction and minimize jamming, delrin
bearings need to be purchased and inserted into the ratchet holes. Similar to the main
wheels, a delrin bearing on delrin rod would be ideal for smooth transitions, but
considering the rods may experience high levels of torque, we decided that steel rods
were our best option for such a thin member. Because of the small size of the rods, the
weight and cost of the steel are relatively negligible as compared to the other steel
components.
The integration of the ratchets in the rear climbing wheels is a much more
manageable task. Because it does not need to be locked in and out, the ratchet can be
rigidly connected to the new added frame of the wheelchair. The addition of the extra
ratchets in the rear, however, definitely adds a good deal to the overall cost and weight of
the prototype. Since the rear wheels do not experience as great of a force on the spokes,
the resulting torque is lower, and therefore, the ratchets could be replaced by smaller,
slightly weaker ratchets for both rear wheels.
Tilting Mechanism:
The tilting mechanism relies on the pivot points and gas springs. Our design for
the pivots is simple but effect. The durability of the pivot relies mostly on the pin that
connects the U - shaped tubular steel with the straight piece that extends from the seat
structure. This connection must be able to withstand the constant weight of the user.
Due to the nature of the connection, the pin that runs through the assembly will be under
substantial loads and must be able to resist deformation. We recommend using tubular
steel of higher strength than that of the rest of the frame and a solid steel pin with
diameter of at least 0.5 inch. The points of contact between the pin and the tubular steel
should have a relatively low coefficient of friction to ensure smooth operation and limit
wear on joint. A plastic coating or sleeve may be applied to the steel pin to act as a
bearing.
By using the gas springs by International Gas Springs, we have allowed the user
to recline to any angle. There is certainly an optimal range of tilt where the chair will
climb stairs most effectively, but that is partially determined by the weight and strength
and of the user and the incline of the staircase. The reclining feature has the main
purpose of shifting the center of mass of the user towards the top of the stairs, but also
puts the user in a more comfortable position while on the stairs. We have estimated that
the most common angle of tilt for stair climbing will be between 45 and 60 degrees. The
versatility of the gas springs allows the user to recline to a position that he/she feels most
comfortable with and that is most appropriate for the set of stairs at hand. It is important
to note that the user will require assistance to get the chair in a tilted position. Another
individual must tilt back the seat structure using the regular handles, while the user locks
the gas springs in the desired position. When the climb is complete the user can unlock
the gas springs and the chair will slowly return to its normal position without the need for
external assistance.
Discussion & Conclusions:
We have outlined a detailed design of a wheelchair that would be capable of
climbing stairs. The chair is designed to be versatile enough to be used as a normal
wheelchair, but is also able to climb a variety of staircases. It is important to note that
our design is intended for a niche market of the handicapped community. The user must
possess the upper body strength that will enable him/her to operate the chair. In several
basic benchmark tests, we found that the force required to pull on the spokes is rather
substantial. However, the feat of climbing stairs without the aid of any external power
seems possible using the wheelchair we have designed. If an active handicapped
individual with the necessary strength were seeking more freedom from their wheelchair,
but did not have the budget to purchase the high priced motorized stair-climbers, then our
design may be a feasible solution. While we realize that there may not be a place in a
commercial market for our design, we are pleased to have accomplished our initial goal.
Being able to compete on a commercial level with the advanced technology used in
motorized stair climbing chairs like the iBOT was not a priority of this project. The goal
was to conduct a case study in mechanical design in hope of producing the plans for a
chair that had the capabilities of much more expensive chairs, at a fraction of the price.
The chair does have the capability to climb a wide variety of stairs by employing a purely
mechanical system. It does so using widely available and relatively inexpensive
materials and processes.
We faced many difficulties in trying to maintain the goal of a design with only
mechanical systems. There were several areas where a motorized or electronic solution
would have been a better solution. For example, the tilting mechanism could have
employed the use of a motorized piston to recline the chair. This method would have
eliminated the need for an individual to help the user set the desired tilt. The piston could
have easily controlled with an electric switch equipped on the arm rest of the chair. In
addition, both the main and rear wheels could have benefited from being driven by a
powerful electric motor, thus making the chair plausible for a wider range of users.
Pursuing features like these would have made the design much more appealing from a
marketing perspective. While looking to better technology to improve this design has its
merits, such an endeavor would significantly increase the cost of materials and
manufacturing for this device. Our main ambition was to complete the design while
considering the issues of cost and manufacturability. When one considers that the cost of
the iBOT, the best known stair climber, is on the order of $30,000, it seems possible that
many of the fundamental ideas of our design can be applied to produce a more efficient
chair. Combining the retractable spoke wheels and reclining seat method with
sophisticated motors and electric controls could give rise to a commercially competitive
stair climbing wheelchair.
References:
Blanco, Ernesto. Professor of Mechanical Engineering at the Massachusetts Institute of
Technology (Retired). Advised us from June 2005 - March 2007.
Castro, Sebastian. 2008 Undergraduate at Massachusetts Institute of Technology.
Conducted research with us June - September 2005.
"Delrin." Wikipedia. Wikipedia Foundation Inc. 30 April 2007
<http://en.wikipedia.org/wiki/Delrin>.
iBOT Mobility Systems. Independence Technology LLC. 20 October 2007.
<www.ibotnow.com>.
International Gas Springs. International Gas Springs, Inc. 27 March 2007.
<www.internationalgassprings.com>
"Lexan." Wikipedia. Wikipedia Foundation Inc. 30 April 2007
<http://en.wikipedia.org/wiki/Lexan>.
Appendix:
Mounted Brackets for Tilting Mechanism
[Values expressed in inches]
SolidWorks Drawings:
z
z
t
r0
52di
C) <:4
o5 ,, (D S
fL. zn 0
L i
CO .<
L z <Q LU-
0 =
a<
i~z
0
0
C) 0 z :-)
2 Q: a.
2 -= a.-
z
0 Z0 a
A < :0 A
zti
o o ng
e- CL
o c0L
u4: a :
in0
09.L
"p.
LU U
LU
70
E
C <

co
---- E~L
Z
U . ea
~r~
--
z iu0
0 2,,
70
0
0C)
1O
CD
C5
Z>
z
I
z
-
0
n
o
-
o
-U
z u zL =
v 0
dLj +,I
LU Hu Z+
Lu
o = -
C' < z
oj Lu L 2
zz
z
Z
u- ~ ~ < <
z
0
z
0
ll'O
-y
:-- ' L
I
L U
0
rco-
_ ~
I
I
9'17
-------------
z
U

< <
U- 0
I so
r-
LJ
IW
!4 +1 ID
Y=
z
LU E
a- CO
S _ z "r
~Z
=u 2
zo
z
0
z
0
>-
z
0ZZ
<00A
a ~-~
0
'-Y
r',
2 40I
u 200
LU+1
,- (( 3-
wU z
z
0
0
z
Lu :U0
- - (,
Z>0
LU < +I
0
0u
z
4:4
0
> ZOIZ
o ~ A:CM~
o 0 = i2
z Lp
L,-
< cwZ.4
<
z -
o ZQ~
LJ
z
z
I
I 1
i
r
0
:5 -
r)
r"I
zu 0--I