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.
Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System / Pappalettera, A.; Reina, G.; Mantriota, G.. - In: ROBOTICS. - ISSN 2218-6581. - STAMPA. - 13:3(2024). [10.3390/robotics13030045]
Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System
Pappalettera A.Conceptualization
;Reina G.
Conceptualization
;Mantriota G.Conceptualization
2024-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
