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Abstract

This paper presents a self-propelled travelling mechanism capable of climbing stairs without a sensor or judging algorithm. The developed leg-wheeled mobile robot, which is a type of mechanism to be adaptable to obstacles and to overcome the gravity, uses springs and planetary wheels. The spring is effective when the front wheels start climbing a stair and the planetary wheels with the functions to roll, walk, and jump, thereby passing through stairs and obstacles. A detail design has been performed and a test model has been constructed with a vast range of simulation analysis results. Also, the validity of the constructed test model has been verified through the experiments in climbing the stairs of high step.

Keywords

mobile robot planetary wheel spring stair climbing

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Development of a stair-climbing robot using springs and planetary wheels

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