Assignment on Design of stair climbing robot

A versatile stair-climbing robot for search and rescue application

This paper is discussing the hybrid wheel type stair climbing robot. It can be used for disaster mitigation and also for urban search rescue operations. In these robots, there are cameras and sensors that are placed for dealing with dangerous situations. These robots must be agile and quick at the same time. Moreover, this robot is able to cope with stairs and also has the ability to swim and move on the flat or steeper surfaces. For its control design, there is the use of four independent pattern generators. Due to this, this robot can perform a different kinds of operations. For that case, there is the use of direct proprioceptive feedback. To carry out difficult trains like steep slopes, there is the use of a phase-adaptive approach (Eich, Grimminger, & Kirchner, 2009).

                                                              

Figure 1: Hybrid legged wheel robot

Adjustable stair climbing robot: This robot is able to adjust itself according to the nature of the stair. This means that it can adjust according to the main dimension of the stairs with the help of the adjustable frame. The main feature of this climbing robot is that it contains a platform that is connected with an adjustable frame. This can easily carry up the materials to the required destination. Its main application is to help in the recuse operations. It is an interesting type of wheel robot. In this robot, there is the use of 5 12-volt DC gear motors that contain 60 rpm speed (Kumar, Gopichand, Anjaneyulu, & Krishna, 2013).

Figure 2: Adjustable stair climbed robot

Fabrication of staircase robot: This staircase climbing robot is using only two motors. It is only using two motors for perfect mobility. Both of these motors are located inside the body, due to this, there are a low disturbance and thermal variation. Due to this, there is also an increase in the reliability and efficiency of the robot. The robot is working on the working principle of locomotion and wheel motion.

It is only the locomotion that is helping the body to move. It can be noted that the mobile robot is one of the most important parts of these systems. One the other hand, wheel motion is allowing the robot to move on the flat or smooth surface. This shows that if there is no slipping wheel center it can easily move on the surface with constant velocity. For this robot, there are two gear motors that can be operated easily on 4volts to 12 volts without any difficulty.

Moreover, these motors are giving 60 rpm speed so it can easily move on the surfaces. The main results of this robot are showing that it is highly stable and accurate than other stair climbing robots. Moreover, this robot is consisted of about 3 main links that are involved in moving properly with the help of two gear motors. This robot is also able to move with a speed of about 0.314 m/s. the next important thing is that it can easily climb up to 150 mm and 370 lengths. It is about only a half foot. The stability of this robot is high because its body is quite closer to the center of gravity (Asalekar, Akash Chorage, Kusalkar, Garud, & Gaikwad, 2017).

                                                

Figure 3: Fabricated staircase robot

Results: If there is a requirement of such a stair-climbing robot that is able to perform different kinds of tasks like climbing up the steep surfaces or swimming. Then this robot design is one of the best choices because it contains different kinds of features for properly synchronizing all trajectories. Moreover, this robot is also beneficial for running fast on the ground. For that purpose, there is a need for a hybrid legged wheel approach. Its drawback is that it is only used for rescue operations. This robot is not able to lift different kinds of materials from one place to another. The hybrid legged robot is robust and fast in actions and also able to move fast. This robot is best for military applications but not reliable for domestic or other professional applications.

If there is a need for such a robot that can properly climb any kind of stairs. Then this adjustable stair climb robot is an excellent choice. This is because its length is adjustable easily and it can easily move from one place to another by adjusting the size. There is only one drawback in this robot and it is related to the use of 5 gear motors that are making this robot heavier. It is not more efficient than the hybrid legged robot. There is also a small drawback present in this robot and it is related to stability. During adjusting on the stairs its stability is suffered. Due to this some time it will create problems whole lifting up materials on the stairs.

According to the given design of fabricated stair climb robot, it can be considered that it is highly stable than other robots. This design is only increasing the stability of this robot. Due to this, it can be used only for a low number of application that requires high stability during climbing stairs. The best advantage of this design is that it increases the stability of the robot. But it contains a lot of drawbacks. The first one is related to speed and robustness. This design is lacking robustness and speedy actions. Moreover, this robot is not able to adjust itself according to the design of the stairs. This shows that the robot is only designed according to the size and dimension of the stairs. It also contains eight wheels and also contains a large size. This site is not appropriate for high-class applications.

Further analysis: According to these designs of the staircase robot, I can say that an adjustable stair climbing robot is extremely efficient. This is because it contains such a design that can easily adjust itself according to the stair design. But the main fact is that it is not stable. But if this robot is stable then it will be the best design for the stair climbing. This is because it is also fast and can be used easily for military purposes. This shows that there is a need for a little bit of working for increasing the stability of the robot through the efficient control design of the robot. Through this, its stability will be increased and it will become the best design for this robot

References of Design of stair climbing robot

Asalekar, A., Akash Chorage, B. J., Kusalkar, R., Garud, S., & Gaikwad, V. (2017). Design and Fabrication of Staircase Climbing Robot. International Research Journal of Engineering and Technology (IRJET).

Eich, M., Grimminger, F., & Kirchner, F. (2009). A Versatile Stair-Climbing Robot for Search and Rescue Applications. IEEE.

Kumar, K. N., Gopichand, A., Anjaneyulu, M. G., & Krishna, B. G. (2013). DESIGN AND DEVELOPMENT OF ADJUSTABLE STAIR CLIMBING Robot . International Journal of Research in Engineering and Technology .