The Synthesis and Testing of a Shaped Wheel for Stairs Climbing Robot
This article describes the process of designing and testing of shaped wheels for a mobile robotic stairclimbing system. It explains the basic principle of the shaped wheel and a synthesis of the shape and dimensions of the wheel segment for specified dimensions of the stairs. Before building a reduced prototype of a chassis with the designed wheels, simulations of its virtual model were performed in the ADAMS simulation environment. Functionality of the suggested solution was verified by building a prototype and its testing. The article is concluded with description of the achieved results and other research activities planned in the sphere of locomotive subsystems for stairclimbing.
V. Krys et al., "The Synthesis and Testing of a Shaped Wheel for Stairs Climbing Robot", Applied Mechanics and Materials, Vol. 555, pp. 178-185, 2014