The Synthesis and Testing of a Shaped Wheel for Stairs Climbing Robot


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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.



Edited by:

Adrian Olaru






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

Online since:

June 2014




* - Corresponding Author

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