Analysis and Optimization of ‘Y’ Wheel Stair Climbing Mechanism

N.P. Kamble; Srinivasan Sujatha

doi:10.4028/www.scientific.net/AMM.786.269

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 786Analysis and Optimization of ‘Y’ Wheel Stair...

Analysis and Optimization of ‘Y’ Wheel Stair Climbing Mechanism

Abstract:

This work analyses a ‘Y’ wheel configuration for stair climbing and optimizes the mechanism for a dedicated staircase configuration. This stair climbing mechanism consists of a ‘Y’ shaped wheel with a gear system which changes its mode of operation from a simple gear train to an epicyclic gear train whenever it encounters step. The analysis consists of understanding the mechanics as the ‘Y’ wheel encounters a step, why the ‘Y’ wheel tends to climb the step and how it climbs the step and starts rolling. Each case is analysed by considering governing factors like the ‘Y’ wheel link length, end wheel radius, and weight and staircase configurations, and studied to show the variation in torque requirement and reaction forces. The stair climbing mechanism is optimized using graphical method and verified using linear programing in Matlab.

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Periodical:

Applied Mechanics and Materials (Volume 786)

Pages:

269-274

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.786.269

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Online since:

August 2015

Authors:

N.P. Kamble*, Srinivasan Sujatha

Keywords:

‘Y’ Wheel, ‘Y’ Wheel Link, End Wheel, Riser, Tread

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