Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System

Obstacle-crossing and stair-climbing abilities are crucial to the performance of mobile robots for urban environment mobility. This paper proposes a tracked stair-climbing robot with two bogie-like suspensions to overcome architectural barriers. After a general introduction to stair-climbing robots,...

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Bibliographic Details
Main Authors: Antonio Pappalettera, Giulio Reina, Giacomo Mantriota
Format: Article
Language:English
Published: MDPI AG 2024-03-01
Series:Robotics
Subjects:
Online Access:https://www.mdpi.com/2218-6581/13/3/45
Description
Summary:Obstacle-crossing and stair-climbing abilities are crucial to the performance of mobile robots for urban environment mobility. This paper proposes a tracked stair-climbing robot with two bogie-like suspensions to overcome architectural barriers. After a general introduction to stair-climbing robots, the “XXbot” concept is presented. We developed a special model that helps us figure out how a system will move based on the shape of the ground it is on. Then, stair-climbing simulations were performed with the multibody software MSC-Adams and the results are presented. This shows that the robot can be used in many different ways, such as stair-climbing wheelchair platforms.
ISSN:2218-6581