FORCE ANALYSIS

Reaction Force:

According to Newton's third law, for every action force there is an equal (in size) and opposite (in
direction) reaction force. Forces always come in pairs - known as "action-reaction force pairs."
Identifying and describing action-reaction force.

= ;

sin 70 (0.518) 700 (0.259) + cos 70 (0) = 0

 = 372.46 (1)

= ;

+ 372.46 700 = 0

= 327.54 ..(2)

So, from the answer solution (1) and (2), we can find R1
-fbd
= ;

327.54 + 372.46 cos 20 1 = 0

1 = 677.54

To get the answer for 1 , 2 , 3 at the moment,we need to devided all reaction force for balance
center of gravity.
When 3 Reaction force (1 , 2 , 3 )

1 = 677.54 3

1 , 2 , 3 = 225.85

And when 2 Reaction force (1 2 )

1 = 677.54 2

1 2 = 338.77

Force Application/push
The movement of the wheelchair can be divided into two situations, namely on the gorund and when
climbing stairs(inclined). So, there are two situations that happened force applications. So the calculation
below is to determine the friction force and application suitability force before the motor is taken into
account.
ON THE GROUND

Fre body diagram:

= ;

700 = 0
= 700

Coefficient of Rolling resistance is = .03

Since Rolling Resistance wheel is =
, =

= ;
()(.)
= =0
( )
 = .

CLIMBING STAIRS

From the reference we know that Static Coefficient Friction for degree is = .
Free Body Diagram

The design should be Weight more light than Force application to push up the wheelchair climb the stairs.
<
Force of Friction ; =

= (. ) ()
 = .

>

= +

= () + . ()

= .

So, The force will aplly for 2 side,

= .

= .

TORQUE
First, we need to calculate the Torque of rubber track when mass on wheelchair applied to choose the
suitable motor for supported climbing stairs.

= ( + )

: (. )
: ()
: ()

: (/ )
: ( )
: ()

= ( )(. + (. )()(. )

= . .