Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility
In hospitals; transferring patients using hospital beds is time consuming and inefficient. Additionally; the task of frequently pushing and pulling beds poses physical injury risks to nurses and caregivers. Motorized hospital beds with holonomic mobility have been previously proposed. However; most...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/23/11356 |
| _version_ | 1797508095725797376 |
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| author | Radon Dhelika Ali Fajar Hadi Prasandhya Astagiri Yusuf |
| author_facet | Radon Dhelika Ali Fajar Hadi Prasandhya Astagiri Yusuf |
| author_sort | Radon Dhelika |
| collection | DOAJ |
| description | In hospitals; transferring patients using hospital beds is time consuming and inefficient. Additionally; the task of frequently pushing and pulling beds poses physical injury risks to nurses and caregivers. Motorized hospital beds with holonomic mobility have been previously proposed. However; most such beds come with complex drivetrain which makes them costly and hinders larger-scale adoption in hospitals. In this study; a motorized hospital bed that utilizes a swerve drive mechanism is proposed. The design takes into account simplicity which would allow for minimum modification of the existing beds. Two DC motors for steering and propulsion are used for a single swerve drive module. The control of the propulsion motor is achieved by a combination of trajectory planning based on quintic polynomials and PID control. Further; the control performance of the proposed bed was evaluated; and the holonomic mobility of its prototype was successfully demonstrated. An average error of less than 3% was obtained for motion with a constant velocity; however; larger values in the range of 15% were observed for other conditions, such as accelerating and decelerating. |
| first_indexed | 2024-03-10T04:57:28Z |
| format | Article |
| id | doaj.art-a4172a0f36434b61b5dd9c1a6c79fc87 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T04:57:28Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-a4172a0f36434b61b5dd9c1a6c79fc872023-11-23T02:06:50ZengMDPI AGApplied Sciences2076-34172021-11-0111231135610.3390/app112311356Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic MobilityRadon Dhelika0Ali Fajar Hadi1Prasandhya Astagiri Yusuf2Department of Mechanical Engineering, Faculty of Engineering, Universitas Indonesia, Kampus UI, Depok 16424, IndonesiaDepartment of Mechanical Engineering, Faculty of Engineering, Universitas Indonesia, Kampus UI, Depok 16424, IndonesiaDepartment of Medical Physics/Medical Technology Core Cluster IMERI, Faculty of Medicine, Universitas Indonesia, Jakarta 10430, IndonesiaIn hospitals; transferring patients using hospital beds is time consuming and inefficient. Additionally; the task of frequently pushing and pulling beds poses physical injury risks to nurses and caregivers. Motorized hospital beds with holonomic mobility have been previously proposed. However; most such beds come with complex drivetrain which makes them costly and hinders larger-scale adoption in hospitals. In this study; a motorized hospital bed that utilizes a swerve drive mechanism is proposed. The design takes into account simplicity which would allow for minimum modification of the existing beds. Two DC motors for steering and propulsion are used for a single swerve drive module. The control of the propulsion motor is achieved by a combination of trajectory planning based on quintic polynomials and PID control. Further; the control performance of the proposed bed was evaluated; and the holonomic mobility of its prototype was successfully demonstrated. An average error of less than 3% was obtained for motion with a constant velocity; however; larger values in the range of 15% were observed for other conditions, such as accelerating and decelerating.https://www.mdpi.com/2076-3417/11/23/11356mechatronicshospital bedPID controltrajectory planningswerve drive |
| spellingShingle | Radon Dhelika Ali Fajar Hadi Prasandhya Astagiri Yusuf Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility Applied Sciences mechatronics hospital bed PID control trajectory planning swerve drive |
| title | Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility |
| title_full | Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility |
| title_fullStr | Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility |
| title_full_unstemmed | Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility |
| title_short | Development of a Motorized Hospital Bed with Swerve Drive Modules for Holonomic Mobility |
| title_sort | development of a motorized hospital bed with swerve drive modules for holonomic mobility |
| topic | mechatronics hospital bed PID control trajectory planning swerve drive |
| url | https://www.mdpi.com/2076-3417/11/23/11356 |
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