Collision-Detecting Device for Omnidirectional Electric Wheelchair

Table 1

Specifications of ball wheel drive mechanism.

Length	200 mm × 650 mm
Width	650 mm
Weight	40 kg
Payload	200 kg
Ball wheel’s diameter	98 mm
Ball wheel’s material	Urethane shore 90
Rotor’s diameter	40 mm
Rotor’s width	20 mm
Rotor’s material	MC nylon
DC motor’s output	100 W × 3
Battery	24 V
Control system	Arduino (ATmega328P)
Controller	Joystick