Stair Climbing Robot

(shrimp robot)

B.TECH/M.E./7th sem
Arun kumar yadav,
Ranjit singh,
Gurpal singh,
Jasdeep singh,
Multan singh

Introduction

These days, various mobile robots are being developed

and researched in a number of fields. Mobility is an
essential element of the mobile robots. The travel
system for the mobile robots can be classified in two
types, leg and wheel. The leg locomotion has good
adaptability for rough terrain. However, it also has
disadvantages of low speed relative to wheels,
complexity of control and manufacture, inefficient
weight. On the contrary to the leg locomotion, wheel
driving systems can travel at high speed. Also they are
easy to control and manufacture and with light weight,
but low adaptability to a rough terrain.

Figure 1. The rocker-bogie mechanism

robots rough terrain adaptability as much as the leg

locomotion. This study applies and optimizes the rockerbogie mechanism to an indoor mobile robots travel
system. The robot has independently actuated wheels.
The robot distributes the motor torques for stable driving
with little wheel slip. If the robot is designed optimally, it
can be controlled with efficient motor torque and
traction forces. The robot can climb up stairs and
obstacle comparable to stair upto certain height and
width depending on the dimensions of the BOT.

Mechanical Robot Design

Figure 2: Schematic lateral view of the rover

The rover has one wheel mounted on a fork in the

front, one wheel in the rear and two bogies on each
side. Although our bogies have a special geometry, it
is the same basic principle as used for a train
suspension : a couple of two wheels mounted on a
support which can freely rotate around a central pivot

fig 2.1 :rover in different structured environment

The Bogies :

Figure 3: explanation of the bogie architecture

The bogies are the first key components of the rover.

They provide the lateral stability during the motion
even on very rough terrain. To insure good
adaptability of the bogie, it is necessary to set the
pivot as low as possible and in the same time to keep
a maximum ground clearance. This problem is solved
by using the parallel configuration showed on fig. 3
that bring the virtual center of rotation of the bogie at
the height of the wheel axis.

The Front Fork

Figure 4 : Principle of the front fork

The front fork parallel mechanism produce an

elevation of the front wheel if an obstacle is
encountered. The goal for the fork is to provide a
maximum vertical amplitude for the wheel

Material used:
Aluminum
Nut

and bolts
6-wheels
6-motors
Wire
Battery
Specifications:
Length

650 mm

Height

450 mm

Width

320 mm

6 motors

30 r.p.m of 32 kg-cm
torque

6 wheel

110 mm of diameter

Battery

12v

Application of Stair Climbing

Robot:
Can

be used as Mars Exploration robot with

Autonomous system.
Can be used as a stair climbing wheel chair
vehicle or most commonly in hospital areas.
Can be used in Military operations.
Can be used in lifting loads on stairs.
Can be used as rescue robot in fire fighting
department.

Limitation:
The

vehicle cannot move left or right due to

absence of a steering mechanism which can be
introduce.
The vehicle cannot climb beyond the specified
height.
Limitation of load handling capability and low
rigidity of the structure

THANKS