Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism
Published on Jun 11, 2018
· DOI :10.1007/978-3-030-01370-7_22
This paper contributes to a mechanical/kinematical design of a stair climbing robot. Based on the known Klann-mechanism, an extended re-configurable mechanism is proposed, in order to address the stair climbing problem. Steps offer a great variety of occurrences, since they differ in height, width or step length. Regarding staircases the variety is even higher since they differ in the number of steps per level, the size of the platform, the orientation etc. Due to these variations the concept proposes a re-configurable design, which is tested in simulation and in a real physical setup.