Inclusive & Assistive Products
ISDN2001/2002: Second Year Design Project
Technical Independent Study
By. HE Tianlun (Allen)
Research direction
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Steering wheel mechanical design
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Embedded coding design
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Hardware circuit design
Steering wheel mechanical design
First Generation
Wheel-Rocker Suspension
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Simple design with fewer components
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Wheelset position may shift under load
Weak point ：Lower structural strength
Second Generation
Straight up and down tiller
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High load-bearing capacity
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High Power Output
Week point ：Complex assembly
Learning Part
Structural weight reduction with topology analysis
Assembly design
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Pre-positioning of screw holes
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Think about the assembly sequence to optimize the design
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The next version will allow the slider to face outwards so that the screws are orientated in the same direction
Embedded
coding design
1. Resolve Wheel Motion Components
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Calculate the motion vectors for each wheel based on the wheelchair's overall target velocity.
2. Compute Minimum Angular Deviation
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Determine the shortest angular difference between each wheel’s current orientation and its target steering angle.
3. Optimize Steering Path
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Plan the most efficient rotation path to minimize turning time and mechanical wear.
4. Output Control Commands
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Generate and send steering angle and drive speed commands for each wheel.
Realization
Demo
Hardware
circuit design
Schematic:
First Edition:
Second Edition:
