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Design of a robust stair-climbing compliant modular robot to tackle overhang on stairs

Published online by Cambridge University Press:  23 October 2018

Ajinkya Bhole ,
Sri Harsha Turlapati ,
Rajashekhar V.S ,
Jay Dixit ,
Suril V. Shah  and
K. Madhava Krishna
Ajinkya Bhole
Affiliation:
IIIT Hyderabad, Hyderabad, India
Sri Harsha Turlapati
Affiliation:
Department of Mechanical Engineering, Indian Institute of Technology Jodhpur, Jodhpur, India
Rajashekhar V.S
Affiliation:
IIIT Hyderabad, Hyderabad, India
Jay Dixit
Affiliation:
IIIT Hyderabad, Hyderabad, India
Suril V. Shah*
Affiliation:
IIIT Hyderabad, Hyderabad, India
K. Madhava Krishna
Affiliation:
IIIT Hyderabad, Hyderabad, India
*
*Corresponding author. E-mail: surilshah@iitj.ac.in
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Summary

This paper discusses the concept and parameter design of a robust stair-climbing compliant modular robot, capable of tackling stairs with overhangs. Geometry modifications of the periphery of the wheels of our robot helped in tackling overhangs. Along with establishing a concept design, the robust design parameters are set to minimize performance variations. The Grey-based Taguchi method is applied to provide an optimal setting for the design parameters of the robot. The robot prototype is shown to have successfully scaled stairs of varying dimensions, with overhang, thus corroborating the analysis performed.

Keywords

Modular RobotCompliant JointStair-ClimbingOverhung
Type
Articles
Information
Robotica , Volume 37 , Issue 3 , March 2019 , pp. 428 - 444
Copyright
Copyright © Cambridge University Press 2018 

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