The Palanquin belongs to the class of wheel less vehicles, a type of human-powered transport, for the transport of persons. It is also called “Litter” Examples of litter vehicles include jiao (China), sedan chairs (England), palanquin (also known as palki) (India), and gama (Korea).
In India its called “Palkhi” which came from the word ‘Palanki”. The Portuguese called it ‘Palan queem and the Britisher’s called it ‘Palan queen’. It is not truly known that when the palanquin as vehicle was used first. Palanquins are mentioned in literature as early as the Ramayana (c. 250BC).BC).

It was used to be the conveyance for noble Indian ladies as well as for Indian landlords during medieval India.

Some palanquins were carried by six bearers and some by four. Bearers chanted different tunes or words while carrying the palanquins.

Image depicting A Nabab in his palanquin, from ‘Voyage aux Index orientales’ by Pierre Sonnerat, Paris, 1782

“Traveling with a palanquin,”
There were some variations in the Palanquin and they were called with different names
Source for all the images listed below

Chowpaul

J’Hallendar

Mohafa

Mejanah

Long Palanquin

Boutcha

Another sort of Palanquin
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