Research on a Micro Flip Robot That Can Climb Stairs
Micro mobile robots (MMRs) can operate in rugged, narrow or dangerous regions; thus, they are widely used in numerous areas including surveillance, rescue and exploration. In urban environments, stairs are common obstacles, ones that such robots find difficult to manoeuvre over. The authors analysed...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2016-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/62343 |
| _version_ | 1818256163706241024 |
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| author | Jianzhong Wang Jiadong Shi Shilong Zhang |
| author_facet | Jianzhong Wang Jiadong Shi Shilong Zhang |
| author_sort | Jianzhong Wang |
| collection | DOAJ |
| description | Micro mobile robots (MMRs) can operate in rugged, narrow or dangerous regions; thus, they are widely used in numerous areas including surveillance, rescue and exploration. In urban environments, stairs are common obstacles, ones that such robots find difficult to manoeuvre over. The authors analysed the research status of MMRs, particularly in terms of difficulties when performing stair climbing and present a novel type of MMR called the micro flip robot (MFRobot). A support arm subassembly was added to the centre of a wheeled chassis; using this structure, the MFRobot can climb stairs when a flipping mode is utilized. Based on this structure, the authors established a kinematic model of the stair-climbing process and analysed the force conditions for the key status, contributing to the existing knowledge of robot design. An MFRobot prototype was produced and the stair-climbing experiments, as well as experiments on manoeuvring through rubble regions and slope surfaces, were conducted. The results show that the MFRobot can rapidly climb common stairs and can easily manoeuvre through a rubble region. The maximum slope angle the robot can climb was shown to be about 35° for concrete and wooden slope surfaces. In the case where the robot needed to be equipped with sensors, particularly a camera, the camera was equipped on the support arm of robot. The MFRobot prototype weighs 2.5 kg and is easily transportable. This structure can resolve contradictions between portability and performance in terms of overcoming obstacles; in addition, operational effectiveness can be improved using this structure. |
| first_indexed | 2024-12-12T17:23:23Z |
| format | Article |
| id | doaj.art-5d9a5cd590a04fa181b7a9e823130941 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-12T17:23:23Z |
| publishDate | 2016-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-5d9a5cd590a04fa181b7a9e8231309412022-12-22T00:17:35ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-03-011310.5772/6234310.5772_62343Research on a Micro Flip Robot That Can Climb StairsJianzhong Wang0Jiadong Shi1Shilong Zhang2 School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China Beijing Satellite Factory, Beijing Spacecrafts, Beijing, ChinaMicro mobile robots (MMRs) can operate in rugged, narrow or dangerous regions; thus, they are widely used in numerous areas including surveillance, rescue and exploration. In urban environments, stairs are common obstacles, ones that such robots find difficult to manoeuvre over. The authors analysed the research status of MMRs, particularly in terms of difficulties when performing stair climbing and present a novel type of MMR called the micro flip robot (MFRobot). A support arm subassembly was added to the centre of a wheeled chassis; using this structure, the MFRobot can climb stairs when a flipping mode is utilized. Based on this structure, the authors established a kinematic model of the stair-climbing process and analysed the force conditions for the key status, contributing to the existing knowledge of robot design. An MFRobot prototype was produced and the stair-climbing experiments, as well as experiments on manoeuvring through rubble regions and slope surfaces, were conducted. The results show that the MFRobot can rapidly climb common stairs and can easily manoeuvre through a rubble region. The maximum slope angle the robot can climb was shown to be about 35° for concrete and wooden slope surfaces. In the case where the robot needed to be equipped with sensors, particularly a camera, the camera was equipped on the support arm of robot. The MFRobot prototype weighs 2.5 kg and is easily transportable. This structure can resolve contradictions between portability and performance in terms of overcoming obstacles; in addition, operational effectiveness can be improved using this structure.https://doi.org/10.5772/62343 |
| spellingShingle | Jianzhong Wang Jiadong Shi Shilong Zhang Research on a Micro Flip Robot That Can Climb Stairs International Journal of Advanced Robotic Systems |
| title | Research on a Micro Flip Robot That Can Climb Stairs |
| title_full | Research on a Micro Flip Robot That Can Climb Stairs |
| title_fullStr | Research on a Micro Flip Robot That Can Climb Stairs |
| title_full_unstemmed | Research on a Micro Flip Robot That Can Climb Stairs |
| title_short | Research on a Micro Flip Robot That Can Climb Stairs |
| title_sort | research on a micro flip robot that can climb stairs |
| url | https://doi.org/10.5772/62343 |
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