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,...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-03-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/13/3/45 |
| _version_ | 1827305124491427840 |
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| author | Antonio Pappalettera Giulio Reina Giacomo Mantriota |
| author_facet | Antonio Pappalettera Giulio Reina Giacomo Mantriota |
| author_sort | Antonio Pappalettera |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-24T17:50:40Z |
| format | Article |
| id | doaj.art-82c03ca38720433db1f7b54d58122e4b |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-24T17:50:40Z |
| publishDate | 2024-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-82c03ca38720433db1f7b54d58122e4b2024-03-27T14:03:10ZengMDPI AGRobotics2218-65812024-03-011334510.3390/robotics13030045Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension SystemAntonio Pappalettera0Giulio Reina1Giacomo Mantriota2Department of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, ItalyDepartment of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, ItalyDepartment of Mechanics, Mathematics and Management, Polytechnic University of Bari, Via Orabona 4, 70126 Bari, ItalyObstacle-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.https://www.mdpi.com/2218-6581/13/3/45tracked robotsstair-climbing robotspassive articulated suspension systeminverse kinematics modeldynamic analysis |
| spellingShingle | Antonio Pappalettera Giulio Reina Giacomo Mantriota Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System Robotics tracked robots stair-climbing robots passive articulated suspension system inverse kinematics model dynamic analysis |
| title | Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System |
| title_full | Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System |
| title_fullStr | Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System |
| title_full_unstemmed | Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System |
| title_short | Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System |
| title_sort | design and analysis of tracked stair climbing robot using innovative suspension system |
| topic | tracked robots stair-climbing robots passive articulated suspension system inverse kinematics model dynamic analysis |
| url | https://www.mdpi.com/2218-6581/13/3/45 |
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