We proposed a new type of driving mechanism that has a variable geometry single-track. This mechanism has a symmetric configuration so that the robot advances in dual directions and prepares against overturn. It was designed to improve the performance of overcoming stairs and energy efficiency and to minimise its weight and size. Using transformation without the variation of the track length, it can reduce the maximum energy consumption in steering and rotating and also maximise off-road mobility. We analysed the design parameters for several phases of climbing stairs and optimised the specification of the robot to enhance the adaptability to stairs. Finally, we confirmed the performance of the presented driving mechanism for the mobile robot from various experiments. In the future works, we will consider the grip shape effect and analyse the grip force in the simulation to improve the simulation result and more experiments for the various friction coefficients will be performed to prove the numerical analyses, because the vehicle is operated in the various friction conditions. Also, the system will be improved by dynamic simulation and additional analyses on the various off-road actions, although the performance of climbing stairs was emphasised in this paper. Additional functions of cameras, microphones, manipulators, lights, antennas and so forth should be considered to achieve the objectives of the search and rescue robot in future works.


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    Title :

    Design and optimisation of variable geometry single-tracked vehicle for climbing stairs


    Additional title:

    Entwurf und Optimierung eines einspurigen, treppengängigen Fahrzeugs mit variabler Laufwerk-Geometrie


    Contributors:

    Published in:

    Publication date :

    2007


    Size :

    16 Seiten, 19 Bilder, 1 Tabelle, 10 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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