Abstract
This paper introduces the mechanical issue of a wheel design capable of step climbing toward more convenient utilization of welfare robots such as wheelchairs and walkers. Despite the promotion of barrier-free environments, uneven floors with dips and depressions, thresholds, and steps have often been encountered in our daily routines. As one solution to overcome these difficulties, a step-climbing mechanism is developed, allowing wheeled robots to ascend a step where the height of the step is higher than the radius of their wheels. What is the most important aspect from the practical point of view is how to realize the mechanism without additional wheels and linear guides. This paper describes the driving mechanism by controlling a moveable wheel axis in detail. Moreover, the proposed mechanism are examined and analyzed through extensive simulations.
