DESIGN AND FABRICATION OF

WHEELCHAIR BASED ON ROCKER

BOGIE MECHANISM

BATCH MEMBERS BATCH NUMBER : 19

HRITHIK K. (311615114037) DATE : 21.03.2019

JINENDAR KOTHARI S. (311615114046) REVIEW : MODEL REVIEW

MEHUL KUMAR J. MUNOT(311615114055) PROJECT GUIDE : Dr. B. JANARTHANAN B.E., M.TECH., Ph.D.

MECHANICAL ENGINEERING

MISRIMAL NAVAJEE MUNOTH JAIN ENGINEERING COLLEGE,

CHENNAI - 600097
 INTRODUCTION
The rocker bogie mechanism has six
wheels in which front four wheels
forms the bogie and rear two wheels
forms the rocking arm motion, which
gives good suspension and better
stability.
It has less number of links, compared
with other currently used frame
structure which will also provide less
weight.
The mechanism has good suspension
stability at low speed and other
advantage is that it can climb surfaces
that is inclined up to 45°.
 PROPOSED MODEL BASED ON ROCKER-BOGIE
SUSPENSION SYSTEM
• The all terrain Wheelchair does not let the patient feel helpless.
• All the obstacles can be overcome without additional manual help required to push the
wheelchair.
• Staircases and slopes up to 45° can be overcome with the use of this mechanism.
• Using Microprocessor, maximum comfort and safety will be provided to the patient.
• The seat’s equilibrium will be maintained, with the use of MEMS and servo motors
coupled with rack and pinion, while climbing stairs or overcoming obstacles or moving
down the slope.
 CALCULATION
Figure 6.1 shows the side view of the rocker bogie mechanism along with its
dimensions. According to the length and width of the stairs, these dimensions are
selected.

Figure 6.1
Width of stairs = 475 mm

Radius of front wheel, 𝑅𝑓 = 37.5 𝑚𝑚

Radius of rear wheel, 𝑅𝑅 = 37.5 𝑚𝑚

From figure 6.2

Wheel base = 475-(37.5+37.5)

Figure 6.2
Wheel base= 400 mm

290
𝜃 = 𝑡𝑎𝑛−1
475

𝜃 = 31.4°
In triangle DCE,

𝐷𝐶
Tan 45° =
𝐶𝐸

→ 𝐷𝐶 = 𝐶𝐸

By Pythagoras theorem

𝐷𝐸 2 = 𝐷𝐶 2 + 𝐶𝐸 2 = 𝐷𝐸 2 = 2(𝐷𝐶)2

Assume DC= 200 mm

𝐷𝐸 2 = 2(200)2

DE= 282.8 mm ≅ 285 𝑚𝑚

𝐷𝐸 2 = 2 𝐷𝐶 2

(285)2 = 2(𝐶𝐸)2

CE = 201 mm ≅ 200𝑚𝑚 = 𝐷𝐶
From figure 6.3,

Figure 6.3
AE= 400 mm = AC+CE

AC = AE-CE

AC= 200 mm

In triangle ABC,

𝐴𝐵 2 + 𝐵𝐶 2 = 𝐴𝐶 2

𝐴𝐶 2 = 2 𝐴𝐵 2

2002 = 2 𝐴𝐵 2

AB = 141.4 mm = BC
 𝑃𝐴
Sin 45° =
𝐴𝐵

PA = 100 mm

PA = 100 mm = QC
𝑃𝐵
Cos 45° =
𝐴𝐵

PB= 100 mm = BQ = 𝐵1 𝐶

∴ 𝑃𝑄 = 𝑃𝐵 + 𝐵𝑄 = 100 + 100

PQ= 200 mm and 𝐵1 𝐸 = 300 𝑚𝑚

DE = AD = AB + BD

285 = 141.4 + BD

BD = 143.6 mm
From figure 6.4,

Figure 6.4
𝑆𝐵
Sin 45° =
𝐵𝐷

SB = 101.541 mm
𝑆𝐷
Cos 45° =
𝐵𝐷

SD = 101.54 mm ≅ 100 mm
 Figure 6.5

from figure 6.5

𝑅𝐸
Sin 45° = = 𝑅𝐸 = 201.52 ≅ 200 𝑚𝑚
𝐷𝐸

𝐷𝑅
Cos 45° = = 𝐷𝑅 = 201.525 ≅ 200 𝑚𝑚
𝐷𝐸

We tried with the above specifications but there was no proper traction and less
climbing stability, so we are changing the angle of bogie vertical column
(AP&QC) for better stability and traction.
 Figure 6.6

From figure 6.6,

PA = 100 mm
𝑃𝐴
Cos 17° =
𝑃𝐴 1

𝑃𝐴1 = 104.5 ≅ 105 𝑚𝑚 = 𝑄𝐶 1

𝐴1 𝐴
∴ tan 17° =
𝑃𝐴
𝐴1 𝐴 = 30.573 mm =𝐶𝐶 1

𝐵1 𝐶 1 = 𝐵1 𝐶 + 𝐶 1 𝐶

𝐵1 𝐶 1 = 130 𝑚𝑚
 Figure 6.7

From figure 6.7

∴ The bogie length = 𝐴1 𝐴 + AC + 𝐶𝐶 1 = 261 mm≅ 260 𝑚𝑚

So, 𝐶 1 𝐸 = 𝐵1 𝐸 − 𝐵1 𝐶 1

𝐶 1 𝐸 = 300 − 130

𝐶 1 𝐸 = 170 𝑚𝑚