Wheelchair and Wheel Design with a Transformable and Adaptable Wheel-Leg Configuration for Climbing Stairs

Abstract:

The work focuses on building a sophisticated legged-wheel model that will perform in different terrains for convenient locomotion. Although a variation of wheels is available for different vehicles, locomotion mechanisms, or robotics, there is still a lack of convenient transformable wheels for even and uneven environments. When focusing on wheelchairs, the main obstacle is seen in stairs. Hence, the focus of this work is to model and analyze a transformable wheel for a wheelchair. Several parameters will be examined to find the most optimal solutions. This work carried out 41 simulations to assess performance under various conditions, taking into account factors like leg length, number of legs, acting force, and rotor speed. It was found that, with the given environment, the following parameters were most optimal for the wheelchair to move on stairs and on even terrain. The wheels with a length of 19 cm showed the best results for climbing stairs. A further increase in length would introduce instability. The optimal rotation speed was found to be around 20-22 rpm. At higher speed, it led to excessive resistance and instability. It was also found that a person's weight acting on the wheelchair is significant, as lighter weight results in slipping and incapability of climbing stairs. In concluding the findings, it is obvious that each parameter plays a vital role in the overall performance of the wheelchair.

• Periodical: Applied Mechanics and Materials (Volume 929)
• Pages: 129-139
• DOI: https://doi.org/10.4028/p-LX1buN
• Online since: December 2025
• Authors: Islam Arbievich Magomedov*, Movsar Musaevich Matygov, Zera Lionovna Beslaneeva
• Keywords: Legged-Wheel Model, Simulation Analysis, Stair-Climbing Wheelchair, Transformable Wheels, Wheelchair Locomotion

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