Development and Research of a Platform Stabilization Module Mathematical Model


Golovin M.A.†,‡


† Graduate School of Automation and Robotics, Peter the Great St. Petersburg Polytechnic University (SPbPU), St. Petersburg, Russian Federation
‡ – FSBI FSCRD named after G.A.Albrecht, Ministry of Labour, Russia; Russia, Saint-Petersburg +79291046780, Bestuzhevskaya str. 50, 195067, St. Petersburg, Russian Federation

Corresponding Author Email: [email protected]

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

The improvement in the quality of life and the associated aging of the population are accompanied by an increase in vascular diseases. The consequences of diseases cause, among other things, the need for wheelchairs. Urbanization leads to increased requirements for wheelchairs due to the use of ramps and escalators for the accessibility of social facilities. Moving on inclined objects is accompanied by operator deflection and changes in the field of view, as well as increased energy consumption. The development of systems for stabilizing the position of a mobile platform, in particular, a wheelchair seat, is a way to solve emerging problems. The use of spring-loaded batteries will reduce energy costs. The paper considers the mechanism of vertical movement of the output link, which is proposed to be used as an element of the stabilization system.