Towards a Stair Climbing Robot System Based on a Re-configurable Linkage Mechanism

被引：0

作者：

Labib, Omar El-Farouk E. ^{[1
]}

El-Safty, Sarah W. ^{[1
]}

Mueller, Silvan ^{[1
,2
]}

Haalboom, Thomas ^{[2
]}

Strand, Marcus ^{[2
]}

机构：

[1] German Univ Cairo, Mechatron Dept, EMS Engn & Mat Sci, New Cairo, Egypt

[2] Baden Wuerttemberg Cooperat State Univ Karlsruhe, Karlsruhe, Germany

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 15, IAS-15 | 2019年 / 867卷

关键词：

D O I：

10.1007/978-3-030-01370-7_22

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper contributes to a mechanical/kinematical design of a stair climbing robot. Based on the known Klann-mechanism, an extended re-configurable mechanism is proposed, in order to address the stair climbing problem. Steps offer a great variety of occurrences, since they differ in height, width or step length. Regarding staircases the variety is even higher since they differ in the number of steps per level, the size of the platform, the orientation etc. Due to these variations the concept proposes a re-configurable design, which is tested in simulation and in a real physical setup.

引用

页码：278 / 288

页数：11

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