Stair limbing robot robot parts robot kits robot toys. This project stair climbing robot exploits starwheel. The stairclimbing mechanism is based on caterpillar drive. Research article dsp and fpgabased stairclimbing robot. Stair climbing robot 1 stair climbing robot team 7 senior design project dalhousie university dept. Design and implementation of stairclimbing robot for rescue applications. The robot distributes the motor torques for stable driving with little wheel slip. Pdf design of low cost stair climbing robot using arduino. 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. 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. Jul 29, 2016 ingenious woodworking techniques and skills easy build and install a wooden staircase step by step duration. Design and fabrication of staircase climbing robot irjet. An optimization design for the stairclimbing wheelchair lin zhang. Design and fabrication of stair climbing wheelchair with.
Certificate this is to certify that the thesis entitled design. Design and implementation of a stair climbing robot abstract. 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. The robot can climb up stairs and obstacle comparable to stair upto certain height and width depending on the dimensions of the bot. The bot is powered by liion batteries and servo motors. 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.
Design of a robust stair climbing compliant modular robot to. The stair climbers two drive arms allow the robot to evenly lift and lower its large and heavy body from both sides. Stair climbing the robots competing in this category aims to climb a stairway with a continuously increasing height of steps. 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. Despite the huge number of available designs of stair climbing robots, sufficient designs are limited. The stairclimbing wheelchairs which exist at present can be grouped into. Assembly of adjustable stair climbing robot we can move the robot forward and backward with the help of remote control. Apr 28, 2015 the stair climbing robot was a mechanical design class project. On each side, there are two motors which lift the drive arm. The stair climbing robot was a mechanical design class project.
The operation is capable of achieving speeds of up to 8kmhr on flat surfaces and stair climbing speed of 4. Still there are difficulties to carry heavy loads over stairs. In this paper a procedure for climbing stairs autonomously is presented. Stair climbing robot using starwheel methodology international. Mechanical design for track robot climbing stairs uo research. In this playlist you can watch stair climbing robots in many different types. Erect wheellegged stair climbing robot for indoor service applications ren c. Up until now, the biggest factor that hampers wide proliferation of robots. Singh, ashish 2015 design, analysis and fabrication of a reconfigurable stair climbing robot. In the present scenario the application of robots is quite common to reduce the human effort in several areas. Development of lift simplifies the effort of carrying heavy loads over stairs, it is not possible to use lift in. Rhex 12, uses six compliant hemispherical wheels to enable easy stair climbing.
As a result, several creative designs of stair climbing robots were tested and. 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. Application of stair climbing robot ieee conference publication. 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. 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.
Stair climbing robot for military and security applications. Climbing robots in natural terrain artificial intelligence. How to design a stair climbing robot 81004 robotpark academy. The synthesis of mechanism is the very first step in any robot design depending upon its application. 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. This dissertation describes the design, implementation, and experimentation of an autonomous freeclimbing robot, capuchin. 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. 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. 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. 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.
Ppt stair climbing robot powerpoint presentation free to. Eight wheels stair case climbing design robot is used because stability purpose. Dynamics and stability analysis on stairs climbing of. Mechanism of a robot the adjustable stair climbing robot consists of a adjustable wooden frame, d. Stair climbing robot machine design project youtube. 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.
Robust autonomous stair climbing by a tracked robot using. Design and implementation of stairclimbing robot for rescue. Ultimately, it has resulted in the invention of the robot, an engineering marvel. The design enables fast stair climbing at a reduced platform weight.
The goal of our project was to design a robot that would climb starirs in a skillfull, calculated and efficient manner. The stair climbing mechanism is based on caterpillar drive. How to make a stair climbing robot based on rocker bogie. The robot has dimension 60x40x cm which is the length, width, and height respectively, as shown in figure 1. To research and understand methods for traversing uneven terrain. How to design a stair climbing robot 81004 robotpark. Design, analysis and fabrication of a reconfigurable stair. 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.
If the robot is designed optimally, it can be controlled with efficient motor torque and traction forces. Design and fabrication of stair climber trolley mechanical. Although many robots had been introduced earlier have some problems like need of special. Adopted by a number of industries worldwide, they are suitable for a range of. Soft landing condition for stairclimbing robot with hopping. Taiwan and other developed countries have being experienced an emergence of a growing aging population. Introduction robotics is the area of automation which integrates the technology in various field like mechanism, sensors and electronics control system, artificial intelligence and. The android device uses it camera to calculate the height of the stair and sends it to the arduino for further calculation.
An optimization design for the stairclimbing wheelchair. Luo, ming hsiao, tsungwei lin abstract in this paper, an automatic erect stair climbing mobile robot is developed for indoor service applications. Homecaring robot is an excellent candidate capable of supporting such an aging society. The robot can climb onto any obstacles stairs, bumps, etc. It can move along any surface be it sand, rocks, concrete, or grass as it has suspension arrangments. When the robot encounters a stair, with its touch sensor, the robot. Design and implementation of stair climbing robot for rescue applications. Design, analysis and fabrication of a reconfigurable. 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. Home stair climbing company powered stair climbers. Pdf design and implementation of stairclimbing robot for. Design and fabrication of stair climber trolley abstract this project aims at developing a mechanism for easy transportation of heavy loads over stairs. Its mechanical design is suitable with front wheel and back wheel driven by dc motor for climbing stairs.
These legs serves the same purpose as that of the gear. Soft landing condition for stairclimbing robot with. To design a model capable of climbing a series of steps. Stair traversal is a critical requirement for search and rescue robots as many of the terrestrial mission scenarios occur in urban settings with stairs. Design and implementation of stairclimbing robot for. A stairclimbing robot is equipped with a grasping arm for capturing objects to provide service for the elders. Each of the four other areashardware design, control, sensing, and graspingis also discussed.
Dynamic analysis methods were then employed to refine the geometry and ensure the stability of the robot when climbing and descending stairs. Stair case climbing robot, suspension system, mobility, climbing. Available in three different models sr express, sr450 and sr1750 these reliable stair climbing machines are dynamic, efficient and have proven manual handling results for a number of companies. 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. Introduction robotics is the area of automation which integrates the technology in various field like mechanism, sensors and.
The stair robot conquers a range of transporting requirements and staircases, step by step. Application of stair climbing robot ieee conference. Research article dsp and fpgabased stairclimbing robot design. Design and fabrication of stair climbing trolley mechanical project abstract in the modern world though there are many developments in the field of engineering. Design and implementation of a stairclimbing robot ieee. Erect wheellegged stair climbing robot for indoor service. In this paper we present the structure, construction and application of a stair climbing robot.
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. Ingenious woodworking techniques and skills easy build and install a wooden staircase step by step duration. The design of high center of mass, tilt axis near ground, and the triangular wheellegged structure enable the robot to. The chassis design provides a light, flexible and rugged platform that is ideal for agile operation. Ppt stair climbing robot powerpoint presentation free. Design of an advanced wireless controlled stair climbing robot abstract. The robots compete onebyone and the robot that has most stairs climbed up and down in the shortest time wins the competition. Since the invention of the wheel, man has sought to reduce effort to get things done easily. In fact, a sufficient design of a stair climbing robot is obtained after. 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. 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. The stair climbing company is the uk exclusive reseller for ksp italia who have manufactured and supplied stair climbers across the globe for over 25 years.
Design of an advanced wireless controlled stair climbing robot. 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. The stair climbing robots are used to climb the stairs for different applications up to now, but the main disadvantage of the rugged. To implement and test the model as a functional prototype. Devices such as hand trolleys are used to relieve the stress of lifting while on flat ground. The need for such a system arises from daytoday requirements in our society. May 31, 2019 stair climbing robot works on the concept of the rockerbogie mechanism. 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. Design of a robust stair climbing compliant modular robot.
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