Stair Climbing by Wheeled Mobile Mechanism With Rocker Link and Differential Mechanism

-Verification of Ascending Movements of Straight and Spiral Staircases Using Small Experimental Machines-

Abstract

In this study, the ascending and descending of straight and spiral stairs using wheeled mobile mechanism is investigated. The issues in each staircase are identified. Based on a rocker link and differential mechanism, a mechanism with wheelbase variable mechanism, canter of gravity shifting mechanism, wheel steering mechanism and wheel pitch axis variable mechanism is proposed. Experiments with small experimental machines have confirmed the effectiveness of the respective mechanisms.