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TEAM 3: ACHIEVING MOBILITY
Matt Last, Rob VanderVennen, Matt Rozema, Dan Evans
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Outline Project Definition Design Final Product Conclusions Questions
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Introduction Isaac Postma Spinal Muscular Atrophy Physical Limitations Current Transportation
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Project Definition Design an electric wheelchair that the individual can
control while lying down Two operational modes:
Manual (attendant-controlled) Electric (user-controlled)
Touchpad controlled driving system LED system indicating possible directions One camera and monitor for user vision
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Major Design Decisions Motor control hardware topology Feedback type User interface Power regulation safety Structure affected by other component designs Customer requests
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Component Design Power regulation
Fuse Overvoltage protection Cooling fan Heat sinks
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Component Design Motor Control
2 separate motor controllers 1 electronic control unit (ECU)
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Component Design Software
User Interface controlled by ECU Directional state machine Closed loop voltage control of motors CAN, UART, GPIO, Timer, and Watchdog peripheral drivers provided by Stellaris
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Component Design Motors
Provide necessary torque to move the wheelchair and user Required to handle:
○ 450 lb maximum weight (user + stroller)○ ± 5° incline/decline○ 3.5 mph max speed
Minimum motor specifications to meet requirements above:○ Power: 0.243 hp○ Torque: 3.22 ft-lb
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Component Design Brakes
Electric brakes○ Controlled by software○ Triggered by releasing the touch button
Mechanical brakes○ Controlled by attendant pushing wheelchair○ Consist of hand lever and rim brake (bicycle
brake)
Parking Brakes○ Lock each wheel in place○ Manual lever system
Emergency Brake○ Provide immediate motor stoppage during
emergencies○ Triggered by a simple on-off switch
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Component Design Mounting
LCD Touch Button Camera Brakes Motors
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Component Design Structure
Adjustable length Storage Material: Aluminum 6063-T6
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Final Design
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Final Design
40 45 50 55 60 65 70 75 80 850
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Motor Current and Voltage as a Function of Time
CurrentVout
Time (sec)
Mea
sure
men
t Uni
t (V
or A
)
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Final Product
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Final Product
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Significant Issues Funds Schedule Limited manufacturing capabilities
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Conclusion Interacting with an actual customer Working with outside companies Scheduling and budgeting Documentation and testing Finalist in RESNA
competition
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Acknowledgements Professor VanderLeest Professor Brouwer Carole Pettijohn (Ivanrest Church) Russel Ramsay (Texas Instruments) Tim Theriault (Industrial Consultant) Greg Bush (Gentex) Jim Nammensma (Ebling & Son)
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Questions?