Despite the huge number of available designs of stair climbing robots, sufficient designs are limited. Design and implementation of a stair climbing robot abstract. A board based on a digital signal processor dsp plays the role of control center to manage all actions of two brushless dc motors for locomotion, two worm gears for torque magnification, and two dc motors for arms pitching in the main body. Homecaring robot is an excellent candidate capable of supporting such an aging society. Research article dsp and fpgabased stair climbing robot design mingshyanwang,cheminmi,shihyuwu,andyimingtu department of electrical engineering, southern taiwan university of science and technology, nantai street, yung kang district, tainan, taiwan correspondence should be addressed to mingshyan wang. Certificate this is to certify that the thesis entitled design. Stair limbing robot robot parts robot kits robot toys. How to design a stair climbing robot 81004 robotpark academy. The stairclimbing mechanism is based on caterpillar drive. In this paper a procedure for climbing stairs autonomously is presented. As a result, several creative designs of stair climbing robots were tested and. The robot distributes the motor torques for stable driving with little wheel slip. Design of a robust stair climbing compliant modular robot. Singh, ashish 2015 design, analysis and fabrication of a reconfigurable stair climbing robot.
The bot is powered by liion batteries and servo motors. This project stair climbing robot exploits starwheel. Ppt stair climbing robot powerpoint presentation free. Pdf design of low cost stair climbing robot using arduino. The need for such a system arises from daytoday requirements in our society. To build a terrestrial robot able to climb a series of stairs. Home stair climbing company powered stair climbers. Dynamics and stability analysis on stairs climbing of. These legs serves the same purpose as that of the gear.
Mechanical design for track robot climbing stairs uo research. The stair climbers two drive arms allow the robot to evenly lift and lower its large and heavy body from both sides. Motion planning of biped robot climbing stairs ruixiang zhang and prahlad vadakkepat department of electrical and computer engineering, national university of singapore 4 engineering drive 3, singapore, 117576 email. Design, analysis and fabrication of a reconfigurable stair. The stair climbing robots are used to climb the stairs for different applications up to now, but the main disadvantage of the rugged. The operation is capable of achieving speeds of up to 8kmhr on flat surfaces and stair climbing speed of 4. Devices such as hand trolleys are used to relieve the stress of lifting while on flat ground. This dissertation describes the design, implementation, and experimentation of an autonomous freeclimbing robot, capuchin. Dynamic analysis methods were then employed to refine the geometry and ensure the stability of the robot when climbing and descending stairs. The stairclimbing wheelchairs which exist at present can be grouped into.
Soft landing condition for stairclimbing robot with. Feb 06, 2015 this robot will be able to go to places were human life can be at risk and can help in surveillance, as a camera will be placed at the front side of the robot which will send live video to the device linked with it. Design and implementation of a stairclimbing robot ieee. When the robot encounters a stair, with its touch sensor, the robot. Since the invention of the wheel, man has sought to reduce effort to get things done easily. Design of a robust stair climbing compliant modular robot to.
A dynamic stability analysis of the wheeltrack mobile robot is carried out by analyzing not only the interaction among forces of track, track edge, and stair step but also the different stabilities of the robot when the track and the stairs have different touch points in dynamic stability analysis of stairclimbing process section. Still there are difficulties to carry heavy loads over stairs. Design and fabrication of stair climbing trolley mechanical project abstract in the modern world though there are many developments in the field of engineering. To design a model capable of climbing a series of steps. The robots compete onebyone and the robot that has most stairs climbed up and down in the shortest time wins the competition.
Stair climbing robot machine design project youtube. Design and implementation of stairclimbing robot for rescue. To implement and test the model as a functional prototype. Introduction robotics is the area of automation which integrates the technology in various field like mechanism, sensors and electronics control system, artificial intelligence and. In fact, a sufficient design of a stair climbing robot is obtained after. Ppt stair climbing robot powerpoint presentation free to. Stair climbing robot for military and security applications. Jul 29, 2016 ingenious woodworking techniques and skills easy build and install a wooden staircase step by step duration. Design of an advanced wireless controlled stair climbing robot. The advent of new highspeed technology and the growing computer capacity provided realistic opportunity for new robot controls and realization of new methods of control theory. This is a demo of sm robot, a stair climbing robot designed and constructed by mechatronic students dem6 s2 dis 10 of polipds mechanical engineering department for their final semester project. Design and fabrication of stair climber trolley abstract this project aims at developing a mechanism for easy transportation of heavy loads over stairs.
This is a demo of sm robot, a stairclimbing robot designed and constructed by mechatronic students dem6 s2 dis 10 of polipds mechanical engineering department for their final semester project. Climbing robots in natural terrain artificial intelligence. Design, analysis and fabrication of a reconfigurable stair climbing robot. Apr 28, 2015 the stair climbing robot was a mechanical design class project. May 31, 2019 stair climbing robot works on the concept of the rockerbogie mechanism. An optimization design for the stairclimbing wheelchair. The chassis design provides a light, flexible and rugged platform that is ideal for agile operation. Research article dsp and fpgabased stairclimbing robot design mingshyanwang,cheminmi,shihyuwu,andyimingtu department of electrical engineering, southern taiwan university of science and technology, nantai street, yung kang district, tainan, taiwan correspondence should be addressed to mingshyan wang. This mechanism involves a signi cant amount of design considerations and analysis to ensure safe movement on stairs. Stair climbing robot works on the concept of the rockerbogie mechanism. Even though the final robot is slow, it is able to carry a small size object, weighing up to 1 lb, and climb the stairs of the koch center.
To research and understand methods for traversing uneven terrain. Eight wheels stair case climbing design robot is used because stability purpose. Adopted by a number of industries worldwide, they are suitable for a range of. Up until now, the biggest factor that hampers wide proliferation of robots. Design of an advanced wireless controlled stair climbing robot abstract.
Research article dsp and fpgabased stairclimbing robot. Design and fabrication of stair climber trolley mechanical. Stair traversal is a critical requirement for search and rescue robots as many of the terrestrial mission scenarios occur in urban settings with stairs. D esign the goal of this project was to design a robot that could overcome the limitations of urban environments while providing the resources for autonomous or semiautonomous exploration. In this paper we present the structure, construction and application of a stair climbing robot. The goal of our project was to design a robot that would climb starirs in a skillfull, calculated and efficient manner. Robust autonomous stair climbing by a tracked robot using. Climbing a set of stairs is not a new challenge for robots, in fact it is often a common obstacle used by designers to showcase the robots skills. Application of stair climbing robot ieee conference publication. On each side, there are two motors which lift the drive arm. In the present scenario the application of robots is quite common to reduce the human effort in several areas. The stair robot conquers a range of transporting requirements and staircases, step by step.
The robot can climb up stairs and obstacle comparable to stair upto certain height and width depending on the dimensions of the bot. Stair case climbing robot, suspension system, mobility, climbing. The robot has dimension 60x40x cm which is the length, width, and height respectively, as shown in figure 1. A stairclimbing robot is equipped with a grasping arm for capturing objects to provide service for the elders. The target robot platform for the present work is raposa,3,4 displayed in fig. Design and fabrication of staircase climbing robot irjet. If the robot is designed optimally, it can be controlled with efficient motor torque and traction forces. Development of lift simplifies the effort of carrying heavy loads over stairs, it is not possible to use lift in. In this playlist you can watch stair climbing robots in many different types. Ultimately, it has resulted in the invention of the robot, an engineering marvel.
Stair climbing robot 1 stair climbing robot team 7 senior design project dalhousie university dept. Ingenious woodworking techniques and skills easy build and install a wooden staircase step by step duration. The design enables fast stair climbing at a reduced platform weight. Each of the four other areashardware design, control, sensing, and graspingis also discussed. Design, analysis and fabrication of a reconfigurable. The stair climbing robot was a mechanical design class project. Rhex 12, uses six compliant hemispherical wheels to enable easy stair climbing. Although many robots had been introduced earlier have some problems like need of special. Assembly of adjustable stair climbing robot we can move the robot forward and backward with the help of remote control. The stair climbing robots are used to climb the stairs for different applications up to now, but the main disadvantage of the rugged terrain robots is not adjustable. Introduction robotics is the area of automation which integrates the technology in various field like mechanism, sensors and. This design employs an arduino mega adk 2560 board to control the robot and other home fabricated custom pcb to interface it with the arduino board. Erect wheellegged stair climbing robot for indoor service. Domino stair climbing robot trolley with manual or.
Luo, ming hsiao, tsungwei lin abstract in this paper, an automatic erect stair climbing mobile robot is developed for indoor service applications. In this paper, we present the concept design of a stair climbing compliant modular robot figure 1, that can tackle overhangs on stairs and also equip it with robust design parameters to make its. Mechanism of a robot the adjustable stair climbing robot consists of a adjustable wooden frame, d. In fact, a sufficient design of a stair climbing robot is obtained after engineers study many other designs of stair climbing robots and learn from these designs. Their reputation for innovative design and technology delivers excellent quality and continuous improvement, ensuring the highest level of safety for both the passenger and the user.
Its mechanical design is suitable with back wheel to drive the robot over rubble, and large wheels in the front driven by dc motor for climbing stairs. The stair climbing mechanism is based on caterpillar drive. Design and fabrication of stair climbing wheelchair with. Pdf design and implementation of stairclimbing robot for. The design of high center of mass, tilt axis near ground, and the triangular wheellegged structure enable the robot to. The robot can climb onto any obstacles stairs, bumps, etc. Design and implementation of stairclimbing robot for rescue applications. How to design a stair climbing robot 81004 robotpark. Stair climbing the robots competing in this category aims to climb a stairway with a continuously increasing height of steps. How to make a stair climbing robot based on rocker bogie. It can move along any surface be it sand, rocks, concrete, or grass as it has suspension arrangments.
Application of stair climbing robot ieee conference. An optimization design for the stairclimbing wheelchair lin zhang. Design and implementation of stairclimbing robot for. Research article dsp and fpgabased stairclimbing robot design.
Stair climbing robot using starwheel methodology international. Moreover, designs of stair climbing robots can be used and implemented within the platforms of many other robots to make these robots capable of climbing the stairs. Erect wheellegged stair climbing robot for indoor service applications ren c. This robot will be able to go to places were human life can be at risk and can help in surveillance, as a camera will be placed at the front side of the robot which will send live video to the device linked with it. The objective of our project is to create a multilimbed robot capable of climbing vertical terrain autonomously using techniques similar to those used by human free climbers. The main goal of this project is to build a selfoperating robot that can carry a 1 lb object and climb the stairs of the koch center all the way to the second floor. Taiwan and other developed countries have being experienced an emergence of a growing aging population.
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