Autonomous Tricycle

1 | P a g e M e c h a n i c a l E n g g . , A . B . I . T
Abstract
Over 90% of traffic accidents are caused by
driver error; the safety potential of self – drive is well
understood. When traffic accidents become rare, a motorcycle is
as safe as an SUV. Vehicle weights could fall to the point that
pod-cars weighing less than the riders are the preferred choice in
the city. Since 65% of U.S. vehicle miles travelled (VMT) are
urban, the ramifications are enormous. An aerodynamic ultra-
light vehicle that avoids stop-and-go needs only one-tenth the
energy of an automobile; a 25 pound battery would suffice.
Light batteries can be easily swapped, eliminating range anxiety.
When an automated is in a reserved lane, the
sensors get simpler and less expensive with GPS so no need of
LIDAR, RADAR or extensive machine vision. A Tricycle with
an electric helper motor under 750 watts and top speed under 35
kmh is legally a bicycle, and thus street legal without license,
registration or insurance.

CONTENTS
DESCRIPTION PageNo.
1) Introduction 3
2) Objectives 4
3) History 4
4) Design & Description
a) Frame preparation 5
b) Steering Mechanism 6
c) Braking System 6
5) Components
a) Battery 7-8
b) Motor 8-10
c) Wheel 10
d) GPS 11-12
e) Battery Charger 12-13
f) Motor Controller 13
6) Comparison between AC & DC motor 14
7) Methodology 15-16
8) Specification 17
9) Calculation 18
10) Advantages 19
11) Disadvantages 19
12) Significance 20
13) Cost Evaluation 21
14) Conclusion 22

15) Reference 23
Introduction
Electric vehicles, which use 100% electric power, use
electric motors instead of an internal combustion engine to
provide motive force. A tricycle is a cycle with wheels to help
people move around. It is used by individuals who have
impairments that limit their ability to walk. It typically consists
of a seat supported on two large wheels attached towards the
back of the seat and two small wheels (castors) in front near the
feet, a good braking system, footrests and a cushion. There are
often small additional features to prevent toppling or to assist in
mounting curbs. The user moves by pushing with his/her hands
circular bars on the outside of the large wheels, known as the
hand-rim or push rings.
Since the 1970s, inventors, government, and industry
have helped to develop tricycle. It is a small, lightweight, and
cost relatively little. Experimental GPS equipped with advanced
technology, have been built with the backing of major auto
manufacturers.

Objectives
Our motive is to provide them independent mobility
for that they need a Tricycle which can be easily provided to
them and it should be not expensive and also it should be based
on the clean resources of energy for recharging. Our another
motive is to make handicapped persons productive for their
own growth and also for nation it will enhance feeling of self -
esteem among the community. It will provide them respect
from others. And finally they can live a Normal life . To
fabricate a Tricycle with an optimal cost so that it can be
reached to persons with physical disabilities to make their life
easy and productive.
History
 Haidar Taleb, a 47 year old man from UAE, displayed a
rare combination of human spirit and willpower by
building a autonomous tricycle for himself which runs on
solar power.
 This project was conceived by Elcano .
 For its winning contribution, the team was awarded the
grand prize of $75,000 from Amazon .

Design And Description
The title of the project may be lead, because it going to be
easy fabricating a full sized Autonomous tricycle. It is not only
difficult but also little bit costly. So it is better to do this as a
project which includes lots of study and then a demonstration of
how the tricycle runs automatically and then how it can be used
GPS to navigate the vehicle. The project includes lots of
calculations on how much energy can be stored, how fast the
energy can be stored, how maximum efficiency can be achieved
etc.
FRAME PREPARATION
 Structure Raw Material below sheet- Steel members with at
least equal bending stiffness and bending strength to 1018
steel having a circular cross section with a 2.5 cm (1 inch)
outer diameter and a wall thickness of 3.05 mm (.120 inch)
reason behind selection is high strength to weight ratio(55-
60kNm/kg) ,high tensile strength (470 MPa UTS,400 Mpa
yield strength)at low cost. 
 Structure material above sheet – GI pipes with outer diameter
1.75 cm (0.5 inch) with thickness of 2 mm (.08 inch) reason
of selection is low weight per meter(.947 kg/meter).
 Total Height of vehicle- 155 cm
 For seat :- 40X45 (cm) and in height- 52 cm
 Total weight of the system-40 kg



STEERING MECHANISM
 Ackermann steering geometry is a geometric
arrangement of linkages in the steering of a car or
other vehicle designed to solve the problem of wheels
on the inside and outside of a turn needing to trace
out circles of different radii.
 There are no of turning pair in the system to control the
movment of tricycle .
 Basic advantages of it toavoid the need for tyres to slip
side ways when following the path around a curve .
BRAKING SYSTEM
 A Disc brake is a type of brake that uses calipers to squeeze
pair of pads against a disc in order to create friction that
retards the rotation of shaft, such as a vehicle axle, either to
reduce its rotational speed or hold it stationary.
 Disc brakes can generate and transfer greater amount of heat
to the atmosphere; because most of the friction area of a
rotor is exposed to air, cooling is far more rapid than for a
drum brake.
 Because of their shape, rotors tend to scrape off water more
efficiently.

Components
1 . Battery : -

A system which converts chemical energy into electrical energy
More correctly, a battery is an electrochemical cell: Galvanic
Cells convert the energy from spontaneous chemical reactions
into electricity Electrolytic Cells use electricity to drive non-
spontaneous chemical reactions All galvanic cells produce
electricity from reactions which involve the transfer of electrons
from one species to another There are two components to each
cell – the species donating the electrons, and the species
accepting them We write ―half-reactions‖ to represent these
two components, and to explicitly show the transfer of electrons
The oxidation half-reaction shows the species which is donating
electrons The reduction half-reaction show the species which is
receiving electrons We can also write the net reaction (or overall
reaction) for the cell, the balanced sum of the two half-reactions.
Lead acid batteries are one of the most popular
types of battery in electronics. Although slightly lower in energ
y density than lithium metal, lead acid is safe, provided
certain precautions are met when charging and discharging. This
have a many advantages over other conventional types of
batteries, the lead acid battery is the optimum choice for a solar
assisted cycle. Current supplied from battery indicates the flow
of energy from the battery and is measured in amperes
(or Amps) . The higher the current flow faster the battery will

discharge. A battery is rated ampere-hours (abbreviated Ah) and
this is called the battery capacity. This project revolves around s
upplying and utilizing energy within a high voltage battery. It
demands for a battery ith longer running hours, lighter weight wi
th respect to its high output
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2 . Motor : -
An electric motor is an electrical machine that
converts electrical energy into mechanical energy. The reverse
of this is the conversion of mechanical energy into electrical
energy and is done by an electric generator, which has much in
common with a motor.
Most electric motors operate through the interaction between an
electric motor's magnetic field and winding currents to generate
force. In certain applications, such as in regenerative
braking with traction motors in the transportation industry,

electric motors can also be used in reverse as generators to
convert mechanical energy into electric power.
DC Motor
A DC motor is an electric motor that runs on direct current
(DC) electricity
There are two type of dc motor
Brushed DC electric motor
Brushless DC electric motor
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Brushed DC electric motor
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The brushed DC electric motor generates torque directly from
DC power supplied to the motor by using internal commutation,
stationary permanent or electromagnets .
Rotating electrical magnets.

Brushless DC electric motor
Brushless DC motors use a rotating permanent magnet or soft
magnetic core in the rotor, and stationary electrical magnets on
the motor housing. A motor controller converts DC to AC. This
design is simpler than that of brushed motors because it
eliminates the complication of transferring power from outside
the motor .
AC Motor
An AC motor is an electric motor driven by
an alternating current (AC). The AC motor commonly consists
of two basic parts, an outside stator having coils supplied with
alternating current to produce a rotating magnetic field, and an
inside rotor attached to the output shaft producing a second
rotating magnetic field. The rotor magnetic field may be
produced by permanent magnets, reluctance saliency, or DC or
AC electrical windings.
Less common, AC linear motors operate on similar principles as
rotating motors but have their stationary and moving parts
arranged in a straight line configuration, producing linear
motion instead of rotation.

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3 . WHEELS :-
A bicycle wheel is a wheel, most commonly a wire wheel,
designed for a bicycle. : a steel hub, a fixed steel axle (the bearin
gs were located in the fork ends), aluminium spokes and a shrin
k fitted iron rim A typical modern wheel has a metal hub,
wire tension spokes and metal or carbon fibre rim which holds a
pneumatic rubber tire.
castor is an un-driven, single, double, or compound wheel that
is designed to be mounted at the bottom of a larger
object (the "vehicle") to enable the object to be easily moved. T
hey are available in various sizes, and are commonly made
of rubber, plastic, nylon, aluminium, or stainless steel.
Casters are found in numerous applications, including
shopping carts, office chairs, and material
handling equipment. High capacity, heavy duty casters are used
in many industrial applications, such as platform trucks,
carts, assemblies, and towlines in plants. Generally, casters
operate well on smooth and flat surfaces. The diameter of
the caster used is 15cm and thickness is 3.5 .
4 . GPS : -

The Global Positioning System (GPS), originally Navstar
GPS, is a space-based radionavigation system owned by the
United States government and operated by the United States Air
Force. It is a global navigation satellite system that
provides geolocation and time information to a GPS
receiver anywhere on or near the Earth where there is an
unobstructed line of sight to four or more GPS satellites.
The GPS concept is based on time and the known
position of GPS specialized satellites. The satellites carry very
stable atomic clocks that are synchronized with one another and
with the ground clocks. Any drift from true time maintained on
the ground is corrected daily. In the same manner, the satellite
locations are known with great precision.
GPS satellites continuously transmit data about their
current time and position. A GPS receiver monitors multiple
satellites and solves equations to determine the precise position
of the receiver and its deviation from true time. At a minimum,
four satellites must be in view of the receiver for it to compute
four unknown quantities (three position coordinates and clock
deviation from satellite time).
5 . Battery Charger : -
A battery charger, or recharger,[1][2]
is a device used
to put energy into a secondary cell or rechargeable battery by
forcing an electric current through it.
The charging protocol (how much voltage or current
for how long, and what to do when charging is complete, for
instance) depends on the size and type of the battery being
charged. Some battery types have high tolerance for

overcharging (i.e., continued charging after the battery has been
fully charged) and can be recharged by connection to a constant
voltage source or a constant current source, depending on
battery type. Simple chargers of this type must be manually
disconnected at the end of the charge cycle, and some battery
types absolutely require, or may use a timer to cut off charging
current at some fixed time, approximately when charging is
complete. Other battery types cannot withstand over-charging,
being damaged (reduced capacity, reduced lifetime) or
overheating or even exploding. The charger may have
temperature or voltage sensing circuits and a microprocessor
controller to safely adjust the charging current and voltage,
determine the state of charge, and cut off at the end of charge.
6. Motor Controller : -
A motor controller is a device or group of
devices that serves to govern in some predetermined manner the
performance of an electric motor. A motor controller might
include a manual or automatic means for starting and stopping
the motor, selecting forward or reverse rotation, selecting and
regulating the speed, regulating or limiting the torque, and
protecting against overloads and faults.
Motor controllers can be manually, remotely or automatically
operated. They may include only the means for starting and
stopping the motor or they may include other functions.
An electric motor controller can be classified by the type of
motor it is to drive such as permanent magnet, servo, series,
separately excited, and alternating current.

A motor controller is connected to a power source such as a
battery pack or power supply, and control circuitry in the form
of analog or digital input signals.
Comparision between AC & DC Motor : -
1. A.C. motors are powered from alternating current (A.C.)
while D.C. motors are powered from direct current (D.C.)
4. DC motors are usually seen in applications where the motor
speed needs to be externally controlled. AC motors work best in
applications where power performance is sought for extended
periods of time.
5. All DC motors are single phase, but AC motors can be single
phase or three phase.
6. In DC motors, the armature rotates while the magnetic field
doesn’t rotate. In AC motors the armature does not rotate and
the magnetic field continuously rotates.
7. DC electric motors have many moving parts that are
expensive to replace, and DC electric motor repair is usually
more expensive than using a new AC electric motor with an
electronic controller.
8. AC motors do not use brushes. DC motors use brushes.
9. AC motors can withstand wear and tear and have a longer
life span.
10. DC and AC motors have differing means of speed control.
While DC motors are controlled by varying the armature
winding's current, AC motors simply vary the frequency.

11. DC motors are self starting and require no external help
whereas AC motors require effective starting equipment to start
operation.
Methodology : -
The methodology or working of solar wheel chair can be
understood easily by a flow chart.
Battery- It will store energy in chemical form and again
convert into electrical form.
Motor- It will convert electrical energy into mechanical
(rotational) form and make the wehicle run.
Wheels - They will rotate with the axle which is driven by chain
gear arrangement and cover distance.
GPS - GPS satellites continuously transmit data about their
current time and position.

Battery D.C. Motor
Powertransmissionto wheel
through chain drive
Wheel

Specifications : -
 Size: 65x45x155
 Steering/Drive system: Handle Bar
 Height: 150cm
 Weight with battery: 30-40 kg
 Speed: 20-30 km per hour
 Distance per charge: 77.8km
 Maximum load/weight capacity: 80 kg
 Tire size: (40 x 5) cm
 Batteries: lead acid battery, 12 V- 80 A-hr
 Motor: 0.5 HP(DC)
 Seat: Cushioned
 Braking system: disc brake

Calculations : -
Taking Max.Speed of wheel chair as = 30 km/hr
RPM of shaft wheel(let say N) = 30*1000 = 3.14X 0.40XN
60*60 60
RPM = 398.8 = 400(approx.)
(weight of system-40kg weight of person-80kg)
Weight(on each wheel) = 60X9.81 = 588.6N
Torque = force *radius(1.5cm)
Torque = 588.6X1.5X10-2 =8.82Nm
Power = 2*3.14*N*T/60
Power = 2*3.14*400*8.82
60
= 369.26 watt =0.5 Hp (apprx.)
Energy of Battery = 960 Whr
Time of Charging = 960 = 2.60 Hrs
370
Distance Travelled = 2.60*30 = 77.8 km

Advantages
 Autonomous Tricycle creates absolutely no pollution. This is
perhaps the most important advantage that makes battery
energy so much more practical than oil. Oil burning releases
harmful greenhouses gases, carcinogens and carbon dioxide
into our precious air.
 It is easy to navigate via GPS.
 Unfortunately, paying for oil is an expensive prospect and the
cost is still rising consistently. Why pay for expensive energy
when you can harness it freely?
Disadvantages
 Initial purchase price is high.
 Storage batteries will need to be replaced after about 3-5
years.
 Can't carry more than one passenger.
 Slow speed comparing with other ways of transportation
 The tricycle must be efficiently designed.
 Lightweight structural materials, such as aluminum or
lightweight composites, and low friction components improve
performance.

SIGNIFICANCE
According to WHO (World Health Organization) a Tricycle is
appropriate when it-
 Meets the user’s needs and environmental conditions.
 Provides proper fit and postural support.
 Is safe and durable.
 Is available in the country.
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 Can be obtained, maintained and services sustained in the
country at an affordable price.
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Our project is fulfilling all the decided norms by the WHO
being environment friendly, safe, less expensive and easily
available.

Cost Evaluation Sheet
COST OF MATERIALS
Sr. NO. COMPONENT Unit Cost Quantity TotalCost
1 TRICYCLE 20000 1 20000
2 GPS 8000
3 Motor 10000 1 10000
4 Motor Controller 4000 1 4000
5 Wires 3000
6
Battery 12V 100A
+ Battery charger
5000
+ 5000
2
+1 15000
7
Fabrication +
Labour cost 25000
Total 85000


Conclusion
We can say our project can be a success considering
the changes we had to make in the spring once we actually
found out how the Autonomous tricycle was for. We can
achieve our five aims, and we believe that we have a system that
will be effective in providing mobility for persons who have
disabilities. One of the major lessons we have learned is that
designing an appropriate technology is a huge challenge.
Appropriate is more than just availability for replication, it
considers longevity, reliability, and efficiency.
The vehicle which we are introducing by doing this
project will be help full for many of the people who are disabled
mentally as well as physically can make use of this vehicle
without the requirement of relying up on any external aid. So
this is a multifunctional medicinal aid focusing on the
improvement and self-reliability of multiple disabled people.
Modifications made in the prevailing equipment meant for the
disabled ones will be of great use in upcoming time. And we
were able to apply our theoretical knowledge into practice. All
data provided are precise to the best of our ability .

References
1.Theory of machine- Khurmi Gupta
2.Google
3.Wikipedia
4.Prof. B.K.Satpathy
5.Prof. K.K.Dasburma

Autonomous Tricycle

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