Robotics (Mar 2024)

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

  • Antonio Pappalettera,
  • Giulio Reina,
  • Giacomo Mantriota

DOI
https://doi.org/10.3390/robotics13030045
Journal volume & issue
Vol. 13, no. 3
p. 45

Abstract

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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.

Keywords