Abstract
Most conventional wheelchairs designed with a folding frontal plane are not easily transported after folding due to its large volume. To solve this problem, this study successfully presented kinematic model of the main structure of a high -performance attendant folding wheelchair, based on the Stephenson Chain Type I and Sagittal plane. The main structure is divided into two vector loops for position analysis to acquire the lengths and angles of formula links. Results of this study showed the changes of the input link and other output links, proving that the attendant folding wheelchair is easily operated and the design is user friendly.
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