Development of a stair-climbing robot using springs and planetary wheels
- Authors
- Han, I.
- Issue Date
- Jul-2008
- Publisher
- SAGE PUBLICATIONS LTD
- Keywords
- mobile robot; planetary wheel; spring; stair climbing
- Citation
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v.222, no.7, pp.1289 - 1296
- Journal Title
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
- Volume
- 222
- Number
- 7
- Start Page
- 1289
- End Page
- 1296
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/22713
- DOI
- 10.1243/09544062JMES1007
- ISSN
- 0954-4062
- Abstract
- This paper presents a self-propelled travelling mechanism capable of climbing stains without a sensor or judging algorithm. The developed leg-wheeled mobile robot, which is a type of mechanism to be adaptable to obstacles and to overcome the gravity, uses springs and planetary wheels. The spring is effective when the front wheels start climbing a stair and the planetary wheels with the functions to roll, walk, and jump, thereby passing through stairs and obstacles, A detail design has been performed and a test model has been constructed with a vast range of simulation analysis results. Also, the validity of the constructed test model has been verified through the experiments in climbing the stairs of high step.
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Collections - College of Science and Technology > Department of Mechanical and Design Engineering > 1. Journal Articles
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