Special Wheels for Overcoming Stairs

The article focuses on verification of function of two proposed conceptions of special wheels that allow driving of a chassis on staircases without oscillation of the chassis centre of mass in relation to a line parallel to the flight of steps. Basic principles of the special wheels conceptions are briefly described in the beginning. Verification of function was done by simulation in the CAD system SolidWorks and also were performed tests on reduced-scale prototypes of chasses with the special wheels. The article contains comparison of results obtained from simulations and from testing on prototypes. The last part discusses the results and possible directions of evolution of mobile robotic systems designed for movement on stairs.

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