Special Wheels for Overcoming Stairs

Václav Krys; Zdenko Bobovský; Tomáš Kot; Vladimír Mostýn

doi:10.4028/www.scientific.net/AMM.811.268

Paper Titles

Contributions to Hydrogenerator Protection when its Running in the Motor Regime is Detected
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Modification of Space Truss Vibration Using Piezoelectric Actuator
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Active Static Balancing of Mechatronic Systems - An Overview
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Velocity Characteristics of Movement of Chassis with Special Wheels for Overcoming Stairs
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Special Wheels for Overcoming Stairs
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Bi-Mobile Leg Mechanism Dynamic Model
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Gripper with Average Continuous Reconfigurability for Industrial Robots
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Dynamic Modeling and Simulation of a 4-Wheel Integral Steering Vehicle
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 811Special Wheels for Overcoming Stairs

Special Wheels for Overcoming Stairs

Abstract:

The article focuses on verification of function of two proposed conceptions of special wheels that allow driving of a chassis on staircases without oscillation of the chassis centre of mass in relation to a line parallel to the flight of steps. Basic principles of the special wheels conceptions are briefly described in the beginning. Verification of function was done by simulation in the CAD system SolidWorks and also were performed tests on reduced-scale prototypes of chasses with the special wheels. The article contains comparison of results obtained from simulations and from testing on prototypes. The last part discusses the results and possible directions of evolution of mobile robotic systems designed for movement on stairs.

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Periodical:

Applied Mechanics and Materials (Volume 811)

Pages:

268-272

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.811.268

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Online since:

November 2015

Authors:

Václav Krys*, Zdenko Bobovský, Tomáš Kot, Vladimír Mostýn

Keywords:

Locomotion Subsystem, Service Robotics, Simulation, Stairs Climbing

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* - Corresponding Author

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