Abstract
A personal mobility system with a self-adjusting center of gravity is designed to aid agricultural work. This personal mobility system can assist elderly and disabled people with mobility problems to perform simple agricultural tasks. Simulations and experiments were performed using a 2.5-times reduced model of the personal mobility system, and the feasibility and effectiveness of the proposed system were verified. With the initial position of the center of gravity of the personal mobility system as the set value, the proportional-integral-derivative control of the counterweight motion is coordinated horizontally using two corresponding motors and the center of gravity of the system is controlled within a certain range of the set value. The experimental transition time is 10.8 s and the simulated transition time is 10.4 s. The error between the two is 3.85 %. The results demonstrate that the proposed adaptive control system achieves adaptive adjustment of the center of gravity.
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This work was supported by Inha University Research Grant.
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Zixuan Jiang is a Master student in the Department of Mechanical Engineering, Inha University. He received his Bachelor of Science degree in 2019 from Mechanical Engineering, Qingdao University of Science & Technology. His research interests include control.
Chul-Hee Lee is a Professor in the School of Mechanical Engineering, Inha University. He received his Doctor of Philosophy degree in 2006 from Mechanical & Industrial Engineering, University of Illinois at Urbana-Champaign. He was a chassis research engineer at Hyundai Motor Co. from 1996 to 2002 and a senior research & development engineer at Caterpillar Inc. (USA) from 2006 to 2007. His research interests are in the areas of virtual product development by design optimization and FE analysis.
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Jiang, Z., Lee, CH. Design of personal mobility system for assisted agricultural work with self-adjusting center of gravity. J Mech Sci Technol 37, 1623–1635 (2023). https://doi.org/10.1007/s12206-023-0305-0
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DOI: https://doi.org/10.1007/s12206-023-0305-0