UNIVERSITI TENAGA NASIONAL

COLLEGE OF ENGINEERING
DEPARTMENT OF MECHANICAL ENGINEERING

REPORT MINI PROJECT

(FOLDING MECHANISM FOR WHEELCHAIR)

MEMB263 - THEORY OF MACHINE

SEM II 2015/2016

GROUP MEMBERS:

1. ID: ME093741 NAME: MOHAMAD IRFAN BIN ZUBAIRI

2. ID: ME095818 NAME: MOHD SYAFIQ BIN MOHD FAUZI
3. ID: ME094684 NAME: MUHAMMAD EZAD BIN RUZELAN
4. ID: ME095514 NAME: MOHAMMAD FIRDAUS BIN AZMAN
5. ID: ME095538 NAME: MUHAMMAD HAZWAN BIN SHABUDIN

SECTION : 03A

TEAM NUMBER :3

LECTURER : SAMI SALAMA HUSSEN HAJJAJ, ENCIK

 ABSTRACT

Wheelchair is a mobility gadget designed to be replacement for walking, moving physically

challenged people from one place to other with the help of attendee or by means of self-
propelling.

The wheelchair is divided into two categories based on the power used mobility:
Manually powered wheelchair, electrically powered wheel chair. This project focuses on the
design of self-folding wheelchair, which requires a folding mechanism to achieve the objective.
The design of wheelchair happened by means of literature review to know its evaluation from
past to present generation. Different methodologies have been proposed based on human
anthropometric data and tested for sitting as well as standing mechanism of the wheelchair to
maximize the utility of chair by including features like shock absorber, rake angle between
seats and brake mechanisms.

Wheelchairs are not only for those who have no use of their lower extremities, but also
for those who tire out easily because of muscular and nerve degenerating conditions. This work
is to provide ergonomic constraints for user’s maximum comfort while dealing with various
body movements like sitting, lying and lifting. The final output is a wheelchair folder with a
very simple mechanism which gives the facility to fold the chair easily and can be move to the
desired place with. Apart from this, simple mechanism ergonomic constraints have been given
so that occupant/passenger can avoid large pressure on body parts allowing body flexibility.

i
 BRIEF DESCRIPTION

A wheelchair is a chair fitted with wheels. The device comes in variations allowing either
manual propulsion by the seated occupant turning the rear wheels by hand, or electric
propulsion by motors. There are often handles behind the seat to allow it to be pushed by
another person. Wheelchairs are used by people for whom walking is difficult or impossible
due to illness, injury, or disability.

A basic folding mechanism to fold a wheelchair incorporates a four-bar linkage. The

mechanism usually applies in a lot of applications, but in this project it will be scale
accordingly. To achieve the target, some modification are made to suits the project.

Manual wheelchairs are those that require human power to fold them. Many manual
wheelchairs can be folded for storage or placement into a vehicle, although modern wheelchairs
are just as likely to be rigid framed. Although wheelchairs come in variety of sizes, in this
project a standard dimension of manual wheelchair will be taken into consideration. In the end,
a well-designed mechanism is documented in this report.

ii
 CONTENTS

NO. CONTENTS PAGES

ABSTRACT i
BRIEF DESCRIPTION ii
CONTENTS iii

1 INTRODUCTION
1.1 HISTORY 1

2 MECHANISM
2.1 FOUR-BAR LINKAGE 4
2.2 DESIGN 7
2.3 GRAPHICAL SYNTHESIS 9

3 MECHANISM ANALYSIS
3.1 POSITION ANALYSIS
3.1.1 GRAPHICAL METHOD 13
3.1.2 ANALYTICAL METHOD 13
3.2 VELOCITY ANALYSIS 16
3.3 ACCELERATION ANALYSIS 18
3.4 DYNAMICS ANALYSIS 19

4 MODEL
4.1 PROJECT MODEL 22

CONCLUSION 25
APPENDICES 26

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 INTRODUCTION

1.1 HISTORY

The earliest records of wheeled furniture was an inscription found on a stone slate in China and
a child’s bed depicted in a frieze on a Greek vase, both dating back to the 5th century BCE. The
first records of wheeled seats being used for transporting the disabled date to three centuries
later in China; the Chinese used their invented wheelbarrow to move people as well as heavy
objects.

Figure 1.1: An antique wheelchair

Throughout the history, Harry Jennings and his disabled friend Herbert Everest, both
mechanical engineers, invented the first lightweight, steel, collapsible wheelchair in 1933.
Everest had broken his back in a mining accident. The two saw the business potential of the
invention and went on to become the first mass-manufacturers of wheelchairs: Everest and
Jennings. Their “x-brace” design is still in common use, albeit with updated materials and other
improvements.

1
 Figure 1.2: Standard manual wheelchair

Thus, with the innovation of wheelchair come an easy way to fold a manual wheelchair.
Despite all the hardness, one can simply use a machine to fold the wheelchairs. Although the
technology today has been advancing at a rapid pace, folding the wheelchair in manufacturing
plant and storing facility is usually done manually. In a wheelchair production line, it is a time
consuming process as the workers need to fold the wheelchairs by hands.

Figure 1.3: Manual ways to fold a manual wheelchair

A folding mechanism to fold a wheelchair would make life easier. With a folding
mechanism, folding a wheelchair will take less than a minute. Some of the elderly did not have
the force require to fold the wheelchair. So, a machine is needed to get the job done. Moreover,
a folding mechanism will be a crucial mechanism in a wheelchair storage unit. This is to utilise
the defined space for the storage of wheelchairs.

2
 The mechanism for foldable wheelchair itself allows the wheelchair to reduce space for
storage. The feature for this wheelchair is that it’s folding mechanism that connects two sides
of the frame together. The side frame assemblies are made of two halves that are secured
together at a pivoting midpoint, that when folded, the bars pivot until they are approximately
parallel to each other. This design is based on the standard mechanism of all wheel chairs. This
design will allows the chair to accommodate foldability.

Since there are no reference, this mechanism has been synthesize to fit the requirement
and to help targeted user for usage.

3
 MECHANISM

2.1 FOUR-BAR LINKAGE

This project applies a four-bar mechanism which compress the wheelchair sideways. In a
wheelchair, a folding frame wheelchair is a wheelchair whose frame is collapsible sideways by
the use of an X mechanism in the frame. This mechanism is lockable, and the wheelchair folds
on release of two locking levers on the chair.

Because the folding wheelchair has an X mechanism, locking levers and re-enforcing
struts, it is usually heavier than a rigid frame wheelchair. Folding wheelchairs also have
movable footrests which allow the chair to collapse. Early folding chairs were made from steel,
but now days they are made from aluminium or titanium.

As there are more moving parts in the folding chair, and movable joints, the chair is not
as durable as a rigid frame wheelchair. This in turn will mean a subtle but adequate compressive
force is required to fold and keep the wheelchair in good condition.

A four-bar mechanism can achieve the target by applying Hoeken straight-line

linkage. The linkage essentially converts rotational motion into a straight line movement. The
rotational motion usually comes from a motor. Straight-line linkages have been known and
used since the time of James Watt in the 18th century.

Hoeken straight-line linkage contains Ground (Link 1), Rocker (Link 2), an extended
coupler (Link 3) which is very useful in this project and a rocker (Link 4). The extended coupler
will act as an arm to compress the wheelchair. There are 2 grounds in this linkage, O2 and O4.
Distance between O2 and O4 is considered as Link 1.

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 Figure 2.1: A typical Hoeken straight-line linkage

Figure 2.1 shows an open position for Hoeken straight-line linkage. In this project,
crossed position is chosen because output of the mechanism needed to be upside down. It is
easier for the mechanism to achieve the target output, which is to compress a manual
wheelchair.

Figure 2.2: Crossed circuit Hoeken straight-line linkage

5
 There is less commercialization on the usage of wheelchair folding machine. But the
application of Hoeken straight-line linkage is more likely be used for daily applications such
as opening a door (e.g. on a bus or a train), windows, robot arms, etc. So, a bunch of application
requires this mechanism to achieve a similar target, by right Hoeken straight-line linkage is the
right choice to achieve this project’s target.

Not to mention, the folding wheelchair itself have so much advantages to be exploit.
Below are lists on advantages of a folding mechanism:

1) May be easier to transport e.g. used with car hoist.

2) Easier to store as this design is a compact design.
3) Compress equally (Force is distribute equally).
4) Some shock absorbing capability in frame.

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2.2 DESIGN

The dimension of this project is based on a standard wheelchair size. This dimension is
an international size for every manual wheelchair.

Figure 2.3: Standard wheelchair dimension

Based on the dimension, the approximate size of the project was determined to obtain
required size of the linkage. When the wheelchair is folded, it will have a dimension of
approximately 250mm in width and 1400mm in height. So, the distance of compression needs
to be done is approximately around 500mm and will left a clearance for the wheelchair itself
about 300mm.

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 Figure 2.4

A link called pusher is attach to the end of the coupler (Link 3) to help compress the
wheelchair. With a larger surface area, the pusher will have an equally distributed force to
compress the wheelchair.

Figure 2.5

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2.3 GRAPHICAL SYNTHESIS

By using FOURBAR, a computer software provided by Kinematics and Dynamics of

Machinery 2nd edition textbook by Robert L. Norton, the links are plotted and animated.

Figure 2.6: FOURBAR software

Figure 2.6 shows a general links plot of Hoeken straight-line linkage. The required input
value for this project is inserted in the software and below is the measurement for this project.
The measurements are taken from the original measurement in the textbook and was scaled 10
times larger to fit the actual project.

MEASUREMENTS
LINKS
(mm)
1 508
2 254
3 635
4 635
Table 2.1: Links Dimensions

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 Figure 2.7: Scaled linkage data

Figure 2.8: Lowest point of mechanism

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 According to the design in Figure 2.8, when θ2 is equal to 0°, maximum reach, h is
achieved. It is the lowest point in the mechanism. By using Pythagoras theorem, value of h
calculated is 1244.34mm, approximately 1245mm maximum. On the other hand, extended
Link 3 was labelled AP and is measured 1270mm.

Figure 2.9: Highest point of mechanism

Based on Figure 2.9, highest point of mechanism is when θ2 equal to 180°. By using
Pythagoras theorem, value of h calculated is 1016mm. The data is tabulated below for
reference;

MEASUREMENTS
θ2 (°)
h (mm) θ3 (°) θ4 (°)
0 1245 282 260
180 1016 307 235
Table 2.2: Value of minimum and maximum reach, h.

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 Figure 2.10: Expand (left) and compress (right) position of linkage

Figure 2.10 shows expand and compress position of the project. Expand is when no
load, in this case a wheelchair, is on the machine. When the mechanism starts working, it apply
a compressive force to fold the wheelchair. After the compressing work, it will return to initial
position. The value of θ2, θ3 and θ4 are tabulated in the table below.

Measurements (°)
Θ
Expand Compress
1 0 0
2 60 300
3 260 320
4 220 280
Table 2.3: Dimensions for expand and compress position

Grashof condition is achieved in this design where S + L < P + Q, for a crank-rocker

movement;

S+L<P+Q
S + L = 254mm + 635mm
P + Q = 635mm + 508mm
889mm < 1143mm
- Grashof condition achieved

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 MECHANISM ANALYSIS

3.1 POSITION ANALYSIS

3.1.1 GRAPHICAL ANALYSIS

*refer to appendix in the last section of the report.

3.1.2 ANALYTICAL METHOD

To verify the motion of the mechanism, vector loop method is applied to the mechanism. Initial
conditions are set as below.

Compress Condition: Constant: a, b, c, d, ∅1 = 0o

(a = 254mm, b = 635mm, c = 635mm, d = 508mm)

Variable:
a) Input: ∅2 = 300°
b) Output: ∅3 , ∅4
∅3 = 320.27° ∅4 = 279.73°

𝑅2 + 𝑅3 − 𝑅4 − 𝑅1 = 0
𝑎𝑒 𝑗∅2 + 𝑏𝑒 𝑗∅3 − 𝑐𝑒 𝑗∅4 − 𝑑𝑒 𝑗∅1 = 0
𝑎(𝑐𝑜𝑠∅2 + 𝑗 𝑠𝑖𝑛∅2 ) + 𝑏(𝑐𝑜𝑠∅3 + 𝑗 𝑠𝑖𝑛∅3 ) – 𝑐(𝑐𝑜𝑠∅3 + 𝑗 𝑠𝑖𝑛∅3 ) – 𝑑(𝑐𝑜𝑠∅3 + 𝑗 𝑠𝑖𝑛∅3 ) = 0

Real : 𝑎 𝑐𝑜𝑠∅2 + 𝑏 𝑐𝑜𝑠∅3 − 𝑐 𝑐𝑜𝑠∅4 − 𝑑 𝑐𝑜𝑠∅1 = 0

Imaginary : 𝑎𝑗 𝑠𝑖𝑛∅2 + 𝑏𝑗 𝑠𝑖𝑛∅3 − 𝑐𝑗 𝑠𝑖𝑛∅4 − 𝑑𝑗 𝑠𝑖𝑛∅1 = 0

Real : 254 𝑐𝑜𝑠300° + 635 𝑐𝑜𝑠∅3 − 635 𝑐𝑜𝑠∅4 − 508 𝑐𝑜𝑠0° = 0

Imaginary : 254 𝑠𝑖𝑛65° + 635 𝑠𝑖𝑛∅3 − 635 𝑠𝑖𝑛∅4 − 508 𝑠𝑖𝑛0° = 0

Both equations were solved simultaneously.

13
Figure 3.1: Finding θ4 using Microsoft Excel

Figure 3.2: Finding θ3 using Microsoft Excel

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3.2 VELOCITY ANALYSIS

Initial conditions are as in the position analysis with and addition of angular velocity of 45
rad/s for O2.
𝐑 𝟐 + 𝑹𝟑 − 𝑹𝟒 − 𝑹𝟏 = 𝟎
𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0

𝑗𝑎𝜔2𝑒 𝑗𝜃2 + 𝑗𝑏𝜔3𝑒 𝑗𝜃3 − 𝑗𝑐𝜔4𝑒 𝑗𝜃4 = 0

𝐕𝐀 + 𝑽𝑩𝑨 − 𝑽𝑩 = 𝟎
𝑽𝑨 = 𝒋𝒂𝝎𝟐𝒆𝒋𝜽𝟐
𝑽𝑩𝑨 = 𝒋𝒃𝝎𝟑𝒆𝒋𝜽𝟑
𝑽𝑩 = 𝒋𝒄𝝎𝟒𝒆𝒋𝜽𝟒
𝑎𝜔2(−𝑠𝑖𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) + 𝑏𝜔3(−𝑠𝑖𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) − 𝑐𝜔4(−𝑠𝑖𝑛𝜃4 + 𝑗𝑐𝑜𝑠𝜃4 ) = 0

Real part (x component)

−𝑎𝜔2 𝑠𝑖𝑛𝜃2 − 𝑏𝜔3 𝑠𝑖𝑛𝜃3 + 𝑐𝜔4 𝑠𝑖𝑛𝜃4 = 0
Imaginary part (y-part)
𝑎𝜔2 𝑐𝑜𝑠𝜃2 + 𝑏𝜔3 𝑐𝑜𝑠𝜃3 − 𝑐𝜔4 𝑐𝑜𝑠𝜃4 = 0
𝑎𝜔2 sin(𝜃2 − 𝜃3 )
𝑎𝜔2sin(𝜃4 − 𝜃2 ) 𝜔4 =
𝜔3 = 𝑐𝑠𝑖𝑛(𝜃4 − 𝜃3 )
𝑏𝑠𝑖𝑛(𝜃3 − 𝜃4 )
(254)(45)sin(300 − 320)
(254)(45)sin(280 − 320) 𝜔4 =
𝜔3 = (635) sin (280 − 320)
(635)sin(320 − 240)
𝑟𝑎𝑑 𝑟𝑎𝑑
𝜔3 = −9.5776 𝜔4 = 9.5776
𝑠
𝑠

𝑉𝐀 = 𝑎𝜔2 (−𝑠𝑖𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) = √(97983675)2 + (32661225)2 = 11430 𝑟𝑎𝑑/𝑠

𝑉𝐵𝐴 = 𝑏𝜔3 (−𝑠𝑖𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) = √(35872674.3)2 + (1115324.64)2 = 6081.77597 𝑟𝑎𝑑/𝑠

𝑉𝐵 = 𝑐𝜔4 (−𝑠𝑖𝑛𝜃4 + 𝑗𝑐𝑜𝑠𝜃4 ) = √(35872674.3)2 + (1115324.64)2 = 6081.77597 𝑟𝑎𝑑/𝑠

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Figure 3.3: Solution for 𝜔3 and 𝜔4

Figure 3.4: Solution for VA

Figure 3.5: Solution for VB

Figure 3.6: Solution for VBA

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3.3 ACCELERATION ANALYSIS

Since the velocity, 𝜔2 at O2 is 45 rad/s, the acceleration, 𝛼2 at O2 was set to 10 rad/s2, hence
the sets of equations are obtained as follows;

R2 + R3 – R4 – R1 = 0

𝑏𝑒 𝑗𝜃2 + 𝑐𝑒 𝑗𝜃3 - 𝑑𝑒 𝑗𝜃4 - 𝑎𝑒 𝑗𝜃1 = 0

𝑗𝑏𝜔2 𝑒 𝑗𝜃2 + 𝑗𝑐𝜔3 𝑒 𝑗𝜃3 - 𝑗𝑎𝜔4 𝑒 𝑗𝜃4 = 0

(𝑏𝛼2 𝑗𝑒 𝑗𝜃2 − 𝑏𝜔22 𝑒 𝑗𝜃2 ) + (𝑐𝛼3 𝑗𝑒 𝑗𝜃3 − 𝑐𝜔32 𝑒 𝑗𝜃 3) – (𝑑𝛼4 𝑗𝑒 𝑗𝜃4 − 𝑑𝜔4𝜔 𝑒 𝑗𝜃4 ) = 0

𝐶𝐷−𝐴𝐹
𝛼3 = 𝐴𝐸−𝐵𝐷 = −12.39 𝑟𝑎𝑑/𝑠2

𝐶𝐸−𝐵𝐹
𝛼4 = 𝐴𝐸−𝐵𝐷 = 7.79 𝑟𝑎𝑑/𝑠2

𝐴𝐴 = √(𝐴𝐴𝑡 )2 + (𝐴𝐴𝑛 )2 = √(2540)2 + (514350)2 = 514350 𝑟𝑎𝑑/𝑠²

𝐴𝐵 = √(𝐴𝐵𝑡 )2 + (𝐴𝐵𝑛 )2 = √(62236)2 + (4953)2 = 62433.1 𝑟𝑎𝑑/𝑠²

𝐴𝐵𝐴 = √(𝐴𝐵𝐴𝑡 )2 + (𝐴𝐵𝐴𝑛 )2 = √(62236)2 + (7874)2 = 62732.4725 𝑟𝑎𝑑/𝑠²

514350
𝜃𝐴 = 𝑡𝑎𝑛−1 ( ) = 89.72°
2540
62236
𝜃𝐵 = 𝑡𝑎𝑛−1 ( ) = 85.45°
4953
62236
𝜃𝐵𝐴 = 𝑡𝑎𝑛−1 ( ) = 82.79°
7874

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Figure 3.7: Solving 𝛼3 and 𝛼4 using Microsoft Excel

18
3.4 DYNAMICS ANALYSIS

∑ 𝐹𝑥 = 𝑚𝑎𝑥

∑ 𝐹𝑦 = 𝑚𝑎𝑦

∑ 𝑇 = 𝐼α

R Angle (°) X-component Y-component

R12 118° R12x = -0.0596 R12y = 0.1121

R32 298° R32x = 0.0596 R32y = -0.1121

R23 138° R23x = -0.4719 R23y = 0.4249

R43 318° R43x = 0.4719 R43y = -0.4249

R34 96° R34x = -0.0332 R34y = 0.3163

R14 276° R14x = 0.0332 R14y = -0.3163

Table 3.1

A Angle (°) X-component Y-component

AA 89.72 AAx = 2.5136 AAy = 514.3498

AB 85.45 ABx = 6.3098 ABy = 79.2883

ABA 82.79 ABAx = 7.8734 ABAy = 62.2369

Table 3.2

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Mass (kg) for each links:
Link 1 = 0kg
Link 2 = 9.8kg
Link 3 = 36.8kg
Link 4 = 18.4kg

Inertia:
1
I = 𝟏𝟐 𝑚(4𝑙 2 + 𝑎2 )
1
Link 2 I = 𝟏𝟐 9.8(4(0.254)2 + 0.052 ) = 0.213 kgm2
1
Link 3 I = 𝟏𝟐 36.8(4(1.27)2 + 0.052 ) = 19.793 kgm2
1
Link 4 I = 𝟏𝟐 18.4(4(0.635)2 + 0.052 ) = 2.477 kgm2
Table 3.3

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 Figure 3.8: OCTAVE to solve 9x9 matrix

Below are the value calculated using OCTAVE;

 F12x = 2.5871 x102 N
 F12y = 5.9499 x103 N
 F32x = -2.8717 x102 N
 F32y = -9.3549 x102 N
 F43x = -1.3861 x102 N
 F43y = 1.9509 x102 N
 F14x = -2.4306 x101 N
 F144 = 3.0928 x103 N
 T12 = 3.7286 x102 N

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 MODEL

4.1 PROJECT MODEL

Figure 4.1: 3D Sketch using Creo

22
Figure 4.2: Position when θ2 equal to 60°

23
Figure 4.3: Position when θ3 equal to 300°

24
 CONCLUSION

Throughout the project, there are many decisions that has been made. Thus, the
mechanism was fully synthesize.

In position analysis, it is found that during the compression cycle, θ2 is equal to 300°.
By using graphical method, θ3 is equal to 320° and θ4 is equal to 280°. Furthermore, by using
vector loop method the position can be determine accurately which are 279.7321° for θ3
320.2679° for θ4.

During the cycle, each velocity for the links were calculated. By using vector loop
method, VA is equal to 11430mm/s, VB is equal to 62865 mm/s and VBA is equal to 6286.5
mm/s. Each position for the velocities are 30° for θVA, 10° for θVB and 230° for θVBA.

In acceleration analysis, the magnitude of A for each link were found. Acceleration for
link 2, AA is equal to 514356.2716 rad/s2 with position 89.72°. For link 3, AB is equal to
62433.127 rad/s2 and for link 4, ABA is equal to 62732.4725 rad/s2.

To validate the value, a computer software called Creo was used. The mechanism was
plotted and simulate to obtain the required value. A software called Octave was used in order
to solve the 9x9 matrix.

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APPENDIX

26