Structure design and motion simulation of simple stair-climbing wheelchairs
NIE Liangyi
ZHANG Yue
Abstract：[Objective]The low popularity of barrier-free facilities prevents many people with mobility difficulties from traveling normally with ordinary wheelchairs.Most existing stair-climbing machines are relatively expensive and cannot meet the low-cost travel needs of the general public.Therefore,a simple dual three-star wheel stair-climbing wheelchair with complete functions and low cost was designed.[Methods]Firstly,based on the architectural standards of stairs and a comparison of the advantages and disadvantages of obstacle-climbing mechanisms,a stair-climbing scheme centered on the dual three-star wheel mechanism was proposed.Secondly,a lifting mechanism was formed by combining a lead screw with a planar four-bar linkage,realizing the switching between stair-climbing and flat-ground walking modes of the stair-climbing wheelchair.Finally,motion analyses of the wheelchair under flat-ground walking and stair-climbing conditions were completed,and simulation verification was carried out by using Adams software,which confirmed the feasibility of the proposed stair-climbing scheme.[Results]The designed stair-climbing wheelchair has a simple structure and exhibits good safety and stability.The research results can provide a new idea for the design of stair-climbing mechanisms and promote the research on low-cost stair-climbing wheelchairs.
Keywords：Stair-climbing mechanismStar wheelLifting mechanismDual three-star wheel setSimulation modeling
Publication Date：2026-04-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 82-90 )