Wheelchairs are the most important mobility-aided device for those who cannot walk independently with moderate or severe physical disabilities, the elder, and the person with chronic diseases in their daily activities. Six-wheel Power Wheelchair has great functions, such as large sphere of actions, has the good capability of traversing step obstacles, great stability, and small radius of gyration. A good chassis mechanism should provide the following characteristics including good support, high stability, easy steering, high comfort for rider, and has the capability of traversing step obstacles. Therefore, the purpose of this paper is to develop the basic theories of analysis and design of six-link chassis mechanism of power wheelchairs, and produce the prototype of some novel chassis mechanisms. First, the kinematic analysis of six-link chassis mechanisms will be derived, and then a computer program will be developed. Next, the structures of six-link chassis mechanisms will be synthesized according to the creative design methodology of mechanism proposed by C. H. Hsu. Then, the structural and kinematic characteristics of chassis mechanisms proposed in patent documentation will be investigated and clarify. The optimization theory will be used to develop a feasible designing program such that the dimensions of the chassis mechanism can be determined. Finally, The results of this designs presents the three-dimension graph. The results of this paper will provide a complete theory for the systematic design of six-link chassis mechanisms for power wheelchairs, and will promote the design competency of the domestic industrial circle.

Wheelchair is for those who cannot walk independently and need assistances in moving around. Six-wheel Power Wheelchair has great functions, such as large sphere of actions, no movement injuries, great stability, and small radius of gyration. The purpose of this paper is to apply the idea of engineering design method and offer a design theory for chassis mechanism for Six-Wheel Power Wheelchair. Firstly, the evolution of chassis mechanism for wheelchair is discussed and the existing chassis mechanism for wheelchair is analyzed. Based on the knowledge, this paper concludes the fundamental functions and structural characteristics of chassis mechanism for power wheelchair and lists the design requirements. Secondly, applying the creative mechanism design procedures, a new design for chassis mechanism and the Kinematic design for six-wheel power wheelchair are proposed and computerized Finally, using CAE software stimulating the designs, the paper presents the three-dimension graph and prototype of the designs.