The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses
Ato Kitagawa*, Liang Zhang*, Takashi Eguchi** and Hideyuki Tsukagushi*
*Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 0okayama, Meguro-ku, Tokyo, 152-8552, Japan
**Agilent Technologies Japan, Ltd. 9-1 Takakura-cho Hachioji-shi Tokyo, 192-8510, Japan
A new type of movement called wavy movement, which is realized by rotating crosses, is proposed to build a stair-climbing fire-fighting robot. The prototype robot consists of 12 crosses, which are driven by 2 motors via sprockets and chains. In this paper, the principle of wavy movement, the mechanism, the design method, and the experimental result of the developed robot are discussed. It is confirmed through experiment that a robot with wavy movement is able to climb stairs with simple structure and easy control method.
Copyright© 2002 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.