스플릿팅 휠을 이용한 계단 극복 로봇

Abstract

In this study, we introduce the design of a mobile robot with a splitting wheel to improve stability when overcoming stairs. The designed mobile robot usually moves on circular wheels but can convert into a split shape to climb stairs. Splitting wheels differ from traditional transformable wheels in that they split apart rather than transform into a leg-like structure, making the separation process more reliable. The splitting wheel allows the robot to switch from circular wheels for regular movement to a split configuration for climbing stairs. Furthermore, unlike traditional transformable wheels, the splitting wheels keep contact with the stairs while climbing, reducing the robot's swaying and enhancing stability. The performance of the designed robot was validated using a dynamic analysis program that compared a robot with a splitting wheel to one with traditional transformable wheels. This performance involved simulating wheel-stair separation moments and assessing the robot's stability in motion. Subsequently, we built the robot and tested its ability to climb stairs. Such a robot using a splitting wheel will likely find applications in various fields, including delivery and office-related tasks.