@article { author = {javadi, mehrdad and جعفری طایمه, پیمان and افضل پور, نرگس}, title = {Design and building of a turnover resistance wheel chair model using 3-RRS mechanism by Rapid Prototyping Method}, journal = {Iranian Journal of Mechanical Engineering Transactions of ISME}, volume = {20}, number = {1}, pages = {209-221}, year = {2018}, publisher = {ISME}, issn = {2538-4775}, eissn = {}, doi = {}, abstract = {A wheelchair model has been designed to resist the turning over of the user by applying a spatial 3-RRS mechanism as the Seat on a standard electric wheelchair. The result is a self-balancing robotic wheelchair with the capability to cope with several road conditions. The 3-RRS platform model has been analyzed and then controlling parameters has been reached. By using the parameters two models of the Wheelchair has been mechanically, software and hardware designed, built and tested. To design and implement Robot controller for better mutual cooperation with environment and to better analyze environmental factors on stability, it is needed to build the robot and wheelchair models with Rapid Prototyping methods and correct problems and optimize it before mass production. Two types of wheels (two wheel wheelchair and continuous track) have been inserted. The wheel chair with continuous track showed good result on several road conditions including roll, pitch and combined conditions.}, keywords = {electric wheelchair,turnover resistance,parallel mechanism,rapid control}, title_fa = {طراحی و ساخت مدل ویلچر مقاوم در برابر واژگونی با استفاده از مکانیزم 3-RRS به روش نمونه سازی سریع}, abstract_fa = {در این مقاله یک ویلچر با قابلیت حفظ تعادل برای افراد سالمند معرفی میشود. این مجموعه که شامل یک مکانیزم 3-RRS ، بعنوان محل نشستن فرد سالمند، و یک ویلچر برقی با قابلیت حرکت بر روی سطوح مختلف است. محل نشستن شخص بگونه ای طراحی شده که در شرایط مختلف زمین، وضعیت افقی خود را را با استفاده از سیستم کنترلی حفظ کند. پس از طراحی، یک مدل از این مجموعه با استفاده از پرینتر سه بعدی ساخته شده و مورد آزمایش قرار گرفته است.}, keywords_fa = {ویلچر برقی,ضد واژگونی,مکانیزم موازی,کنترل همزمان}, url = {https://jmep.isme.ir/article_32077.html}, eprint = {https://jmep.isme.ir/article_32077_9fee57485c54ac73091394b4f206ef1c.pdf} }