top of page
5bd8a5a1589637f7bd766fc07eb698f5.JPG

Technical Independent Study

By. HE Tianlun (Allen)

Research direction

  • Steering wheel mechanical design

  • Embedded coding design

  • Hardware circuit design

Steering wheel mechanical design

First Generation
Wheel-Rocker Suspension
  • Simple design with fewer components

  • Wheelset position may shift under load

Weak point :Lower structural strength

Second Generation
Straight up and down tiller
  • High load-bearing capacity
  • High Power Output
Week point :Complex assembly
Learning Part
Structural weight reduction with topology analysis
拓扑分析.png
cnc.png
Assembly design
  • Pre-positioning of screw holes

  • Think about the assembly sequence to optimize the design

  • The next version will allow the slider to face outwards so that the screws are orientated in the same direction

装配设计.png

Embedded
coding design

1. Resolve Wheel Motion Components
  • Calculate the motion vectors for each wheel based on the wheelchair's overall target velocity.

2. Compute Minimum Angular Deviation
  • Determine the shortest angular difference between each wheel’s current orientation and its target steering angle.

3. Optimize Steering Path
  • Plan the most efficient rotation path to minimize turning time and mechanical wear.

4. Output Control Commands
  • Generate and send steering angle and drive speed commands for each wheel.

Realization
Demo

Hardware
circuit design

Schematic:
硬件图.png
First Edition:
第一代底盘.jpg
Second Edition:
第二代底盘.jpg

ISDN2001/2002: Second Year Design Project

bottom of page