This paper aims to develop a crutched walking frame with one-wheel driving system for the walking-impaired person as the aged. The walking frame is made up of four main parts : the steering and suspension system, the driving unit using the worm gear, the sensor and the controller. The walking frame can be controlled to keep the stable attitude by using the tilt sensor that measure the tilting of frame. The experimental results without control motion and with control motion for the downhill and uphill are presented in this study. Finally, a comparison between these results is presented to show the validity of system.

In this paper, our aim is to develop a simulation model for Multi-joint demolition water vehicle. 3D model of vehicle is developed with CATIA. The rigid simulation model is built in ADAMS and the flexible simulation models are developed using ADAMS and ANSYS. The combination of the both ADAMS and ANSYS can improve the precision of system simulation. The rigid model with rigid multi-slide booms and rigid refracting booms, the hybrid model with flexible multi-slide booms and rigid refracting booms, and a flexible model with flexible multi-slide booms and flexible refracting booms are considered. The simulation analysis shows a good performance, and valuable results we are interested in are obtained.