The synthesis of a segmented stair-climbing wheel

Mostýn, Vladimír; Krys, Václav; Kot, Tomáš; Bobovský, Zdenko; Novák, Petr

doi:10.1177/1729881417749470

Cited by 13 publications

(5 citation statements)

References 26 publications

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“…Krys [84,85] Prototype solution, segmented stair-climbing wheels Looper [86]. Adapted with permission from ref.…”

Section: Name Solution Featuresmentioning

confidence: 99%

“…The Tri-Wheel [80,81] has two locomotion units at the front of the robot, Asguard [82,83] and Looper [86] four. Krys [84,85] possess special wheels for movement on stairs: its rotary segments are capable of smooth driving on stairs without oscillation of the chassis center of mass. Articulated mechanism-based robots are reported in Table 10.…”

Section: Prototype Solutionmentioning

confidence: 99%

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Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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Stair climbing is one of the most challenging tasks for vehicles, especially when transporting people and heavy loads. Although many solutions have been proposed and demonstrated in practice, it is necessary to further improve their climbing ability and safety. This paper presents a systematic review of the scientific and engineering stair climbing literature, providing brief descriptions of the mechanism and method of operation and highlighting the advantages and disadvantages of different types of climbing platform. To quantitatively evaluate the system performance, various metrics are presented that consider allowable payload, maximum climbing speed, maximum crossable slope, transport ability and their combinations. Using these metrics, it is possible to compare vehicles with different locomotion modes and properties, allowing researchers and practitioners to gain in-depth knowledge of stair-climbing vehicles and choose the best category for transporting people and heavy loads up a flight of stairs.

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“…Krys [84,85] Prototype solution, segmented stair-climbing wheels Looper [86]. Adapted with permission from ref.…”

Section: Name Solution Featuresmentioning

confidence: 99%

Section: Prototype Solutionmentioning

confidence: 99%

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Pappalettera,

Bottiglione,

Mantriota

et al. 2023

Robotics

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“…Changing the wheel profile to adjust the robot motion can improve the ability to cross obstacles and stability as shown in Figure 3a. In order to provide the deformed wheel with the ability to adjust the degree of deformation, V. Mostyn installed rotatable arc segments on the spokes as the main body of the deformed wheel 7 , and Wheel Transformer 8 was designed by Seoul National University, Korea, which can realize passive deformation, as shown in Figure 3b.…”

Section: Current Status Of Domestic and International Researchmentioning

confidence: 99%

Design and analysis of large load composite mobile structure

Jiang,

Dong

2023

Fifth International Conference on Artificial Intelligence and Computer Science (AICS 2023)

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The research and design of mobile mechanisms that can adapt to a variety of complex terrains is a key research direction in the field of mobile device research. Because having both good mobility and barrier crossing is the primary performance indicator for mobile agencies to quickly adapt to the unstructured environment, the combination of strong mobility of the wheeled walking mechanism and high barrier crossing of the legged walking mechanism of the composite deformed wheel walking structure is generally favored. In this paper, in view of the demand for mobile equipment walking structure in complex environment, comparing the advantages and disadvantages of domestic and foreign composite deformed wheel moving mechanism, analyzing the characteristics of each walking mechanism and its design points, and designing a composite deformed wheel combining wheeled walking and tracked walking; The action principle of the deformed wheel is studied, and the spokes of the wheel are expanded by the motor-driven hydraulic cylinder to realize the deformation; The working conditions after deformation of the circular wheel body are analyzed, and it is proved that the structure can accomplish the deformation under different working conditions, and the fields to which the composite mobile structure is applicable are analyzed, which can provide reference for the subsequent research of related walking structures.

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“…To maximize the obstacle traversal ability of the robot, 'morphing whegs' have been chosen [6]. These are wheels that can be transformed into whegs when required, with the legs opening out from the wheel's radius [7]. To fit through the duct, a folding design was selected.…”

Section: Morphing Whegsmentioning

confidence: 99%

Design and development of a wheged nuclear robot

Murphy¹,

Giuliani²

2022

UK-RAS Conference for PhD and Early Career Researchers Proceedings

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This paper explores the design and development of a foldable robot to survey and characterize nuclear facilities accessible only via 125mm diameter entry ducts. The enclosed legacy facilities at the Sellafield nuclear site have limited access. The condition, radioactive characteristics and accessibility of the enclosed environments is unknown and for decommissioning to take place, these environments must be mapped and characterised. For a robot to carry out this task, one of the key requirements is the ability of the robot to traverse rough terrain and obstacles that could be found inside the facility. To accommodate this while fitting through the entry duct, the chosen design utilizes morphing wheel-leg systems for locomotion. These are shape-changing wheels that can open out into a set of legs that rotate around an axle, allowing greater traction, diameter, and object traversal ability than wheels alone. The design and morphology of a morphing wheel-leg robot for nuclear characterisation, as well as the manufacture of a prototype is discussed in this paper.

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The synthesis of a segmented stair-climbing wheel

Cited by 13 publications

References 26 publications

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Design and analysis of large load composite mobile structure

Design and development of a wheged nuclear robot

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