International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056

Volume: 07 Issue: 05 | May 2020 www.irjet.net p-ISSN: 2395-0072

Design and Manufacturing of Stair Climbing Wheelchair

Prof.S.M.Ramnani1, Aniket Pawar2, Swarada Anawkar3, Shivam Hire4, Vilas Giram5
1Guide, Prof, P.E.S’s Modern College of Engineering Pune.
Students, B.E Mechanical, P.E.S’s Modern College of Engineering, Pune.
2,3,4,5

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Abstract - Electric-powered wheelchairs with stair- 2. Component selection and System layout
climbing ability have attracted great attention in the past two
decades. By using the developed electric-powered wheelchairs 2.1 Components of System
with stair-climbing, many patients with walking difficulties
are able to descend the stairs conveniently to participate in The system mainly consists of following components:
outdoor activities, which are beneficial to both their physical
rehabilitation and mental health.
2.1.1 Frame
The development history is reviewed and wheelchairs with
stair-climbing are compared based on a control method, cost It consists of a chassis that carries motor, belt and pulley
of manufacturing and adaption to different stairs. mechanism, sprockets, tilting mechanism, landing wheel
mechanism, battery, seat which can be pivoted about a
There are many models available in market but the cost is specific point to maintain the C.G of chair while climbing the
major factor due to which it cannot be used commonly by stairs. The frame can be divided into two parts lower frame
hospitals and differently abled person. Thus, the aim is to and upper frame. The lower frame is used to hold the chair
reduce the cost of the wheelchair without compromising the along with the tilting mechanism, drive shaft, sprockets,
quality. The main factor which will reduce the cost is partial motor, battery, landing wheel mechanism. The upper frame
automation of chair. Most of the wheelchair which are consists of seat, backrest, hand rest etc. The material to be
available in a market have automatic control while moving on used for the frame is mild steel. As mild steel has a relatively
ground as well as while climbing on staircase. We are using low tensile strength, but it is cheap and malleable.
automated drive only during climbing the stairs and the
operation of wheelchair on ground is manual. 2.1.2 Motor

Key Words: Wheelchair, Stairs, Battery, chain & Sprocket, Geared motor is selected as prime mover and its output shaft
Belt & Pulley. is further connected to sprocket. The motor should have
sufficiently large torque rating to drive the whole belt pulley
along the stairs.
1. INTRODUCTION
2.1.3 Belt
Common wheelchairs can easily access many places, but
when the user face stairs which often poses as obstacles,
Selection of belt should be such that it possesses anti-slip
people can only step back, even though with the assistance
mechanism which is required while on the stairs to ensure
from others, it is still very difficult to overcome these
the device changes to and from the stair angle in a controlled
obstacles, which is inconvenient for those people who use
manner at the top of stairs. The proposed mechanism is
common four wheeled wheelchairs.
based on the use of a single track. This reduces the pressure
exerted on stair edges at the top and bottom of stairs. In this
Currently, standard four-wheeled wheelchair designs have
regard the track forms are optimally designed to maximize
some limitations and cannot perform standard routine tasks,
contact area away from the stair edge.
such as stair climbing, sit-to-stand and stand-to sit
operations. Though it is a cost-effective model; it restricts
It is important that the thread of belt should provide
the mobility of person. Thus, this design will allow the
sufficiently large friction so that it is possible to lock the chair
person to climb up and down the stairs independently. This
at position on stair. Another important factor during selection
designed stair climbing wheelchair uses chain sprocket drive
of belt is sharpness of thread. If threads are too sharp there
for transmission of torque and with the help of belt and
are chances breaking of thread which in turn responsible for
pulley mechanism along with tilting mechanism it rises and
slip.
climb down the staircase. This kind of stair climbing wheel
chair will overcome the mobility limitation of four wheeled
chair and at the same time it optimises the cost factor.

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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 05 | May 2020 www.irjet.net p-ISSN: 2395-0072

2.1.4 Pulleys

The track belt is guided by series of pulleys as per the

mechanism pulley will going to receive and transmit the
power to belt it should have sufficient strength. In addition,
with driving pulleys number of idler pulleys are arranged at Fig -1: Flowchart of Transmission System
specified distance to avoid slipping of belt. The Pulley wheel
7cm Dia. x 4cm Width is specially designed for conveyor 2.3 Tilting Mechanism
belts.
There is a tilting mechanism which connects the chair to the
2.1.5 Battery frame. There is need for the tilting mechanism because the
person sitting on the wheelchair may feel like slipping from
Lithium ion Battery Pack is used as Power Source for Geared the seat because of the inclination of the stairs. More the
Motor. The gear motor requires 24 V DC power source. To get inclination of the stairs, more he feels to slip from the chair.
this much amount of power the lithium ion battery pack can So, with help of the seat tilting mechanism the person sitting
be used. The required nominal voltage can be achieved by on the wheelchair can adjust the seat to the higher angle
connecting cells in series and the required nominal capacity making the seat nearest to parallel to the ground so that he
can be achieved by connecting cells in parallel. may sit comfortably on the wheelchair while it is climbing
stairs. For tilting of seat two linear actuator are used one for
So, for getting 24V, 7 cells are to be connected in series and forward stroke and another for return having sufficient load
for getting 15.4Ah, 7 cells are too connected in parallel. So carrying capacity.
total 49 lithium ion cells are required for the battery pack.
The final pack configuration is designated as “7s7p pack”
with final specification of 24V, 15.4Ah.

2.1.6 Chain & Sprocket

Chain and sprocket drive is used to transmit power from

prime mover to belt pulley mechanism. As speed reduction
requirement from prime mover to belt mechanism is quite
large, chain drive is more convenient than gear drive. Use of
gearbox will increases the cost and weight of wheelchair
system. Fig -2: Seat Tilting Mechanism

2.2 Transmission system 3. WORKING

The transmission component of the wheelchair design is The project designed and built wheelchair capable of going
responsible for allowing the operator to climb and descend up and down stairs. The moving unit implemented, provides
the staircase. The transmission system consists of the chain an effective alternative to existing solutions that can improve
sprocket, pulleys, belt, and motor. The motor is mounted physically challenged mobility. Working of wheelchair
rigidly, so that all the torque produced is completely explained with help of three cases:
transferred to the sprocket.
Case -1: Operation on ground
Lithium ion Battery Pack generating 24 V is used as power
source for gear motor which converts electric supply to According the scope of project defined earlier working of
motive power. Further this power is transmitted to sprocket. wheelchair is manual on floor.
The required reduction of speed and increment of toque can
be achieved through chain sprocket drive. With proper
sequential arrangement of sprockets. The required torque is
achieved then this torque is given to pulley belt mechanism.
This pulley belt mechanism is similar to conveyor and is used
during climbing and descending the stairs.

Fig -3: Manual Operation of Wheelchair

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 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
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Case -2: Climbing up the stairs

Wheel chair when approach the stairs, this makes contact

between belt and stair edge. The seat is tilted by tilting
mechanism. This ensures that the CG of system remains in
balanced position. This is necessary because the person
sitting on the wheelchair may feel like slipping from the seat
because of the inclination of the stairs. The more the
inclination of the stairs the more he feels to slip from the
chair. So, the person sitting on the wheelchair can adjust the
seat to the higher angle making the seat nearest to parallel to
the ground so that he may sit comfortably on the wheelchair
while it is climbing stairs. Fig -6: Stair Descending Operation

For climbing the chair, the angle of cross pulley aligns with 4. MODEL
the stairs and the teeth of the belt grips the stairs and
elevates upwards. Once the cross pulley climbs the stairs, the
main shafts approaches the stairs and climbs the stairs.
When chair is about to reach last stair, the person may feel
jerk due to sudden impact of chair on floor. To avoid this
landing wheel is used which ensures gradual contact
between chair and floor.

Fig -7: Rear View of Wheelchair

Fig -4: Stair Climbing Operation

Fig -8: Wheelchair Side View

Fig -5: Illustration of Landing Wheel

Case -3: Descending stairs operation
While descending stairs, with the help of landing wheel,
gradual contact between chair and stairs is possible. The base
module first descends the stairs followed by the cross pulley.
At the end of stair, the angle of the module helps in descend.
Fig -9: Isometric View of Wheelchair

5. CONCLUSIONS

This paper focusses on cost effective designing and

manufacturing the stair climbing wheelchair in order to
make the user feel more comfortable and convenient. This
chair will increase the mobility of physically challenged

© 2020, IRJET | Impact Factor value: 7.529 | ISO 9001:2008 Certified Journal | Page 2005
 International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 07 Issue: 05 | May 2020 www.irjet.net p-ISSN: 2395-0072

person. The product covered three modules viz frame,

transmission system, tilting mechanism. The frame and
motor are designed and developed through mechanical
calculation based upon the statistical data of Indian
dimensions of staircase. Based on these design calculations
further the model will be manufactured with the help of CAD
model and the design will be validate using analysis
software.

6. Future scope

There is some work need to be done in future about our

suggested design by improving the aesthetic look. We mainly
think that:

1. The proposed model uses electric power only

during climbing up and down the stairs but it can be
modifying by using electric power on normal floor
also.

2. Gravity Sensor can be used in tilting mechanism

which sense the gravity during climbing helps to
maintain the C.G in balanced position. Also, it
reduces the load on motor.

7. REFERENCES

[1] Murray J Lawn, Member, IEEE, Takakazau Ishimatsu,

Modelling of a Stair-Climbing wheelchair mechanism
with high single step capability, IEEE Transaction on
neural system and rehabilitation engineering, Vol.11.
No.03, Sep 2003
[2] M.R. Kushte, O. S Dalvi, R. R Date, A. VShelar,
Asst.Prof.A.A. Kumbhar, Design and Fabrication of
Staircase Climbing Wheelchair using Conveyor Belt
Mechanism, International Research Journal of
Engineering and Technology, Vol: 05 Issue :04, Apr 2018
[3] Tadakamalla Shanmukh Anirudh, Jyoti Pragyan
Satpathy, May2014K. Elissa, “Title of paper if known,”
unpublished.
[4] Amos Winter, Ralf Hotchkiss,Mechanical Principles of
Wheelchair Design
[5] Homayoun Rastan ,Mechanical Design for Track Robot
Climbing Stairs, University of Ottawa, July 2011
[6] Xin Chen, Zhong Wu,Hongyu Deng,Blekinge Institue of
Technology, Karlskrona ,Sweden 2011

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