Design and Implementation of a Power-Assistive Cart

• Main Authors: Zong-You Ho, 何宗祐
• Other Authors: 葉賜旭
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/8hv3v5

碩士 === 國立臺北科技大學 === 機電整合研究所 === 101 === Carts are essential for carrying objects in working areas such as offices, markets, hospitals, and shops. However, users must usually apply more power to move a cart when the load increases. Therefore, in this study, a power-assisted cart with a force-sensing device and force-compliance control algorithm is developed so that the cart can move smoothly depending on the force exerted by a user regardless of the applied load. The force-sensing device with an amplifier circuit detects the exerted forces through the use of strain gages attached to a four-cantilevered mechanical structure; the force-compliance control algorithm, which is based on the master–slave control structure, is developed to control the driving wheels with synchronous and compliant motions depending on the detected forces. Experimental results obtained using the developed power-assisted cart show the feasibility of the proposed approach.