Analysis and Design of a Minimalist Step Climbing Robot

In this article, a novel yet simple step climbing robot is proposed and comprised of two front wheels, rear-wheel an actuator to vary the center distance between rear wheels. When climbs stair, huge variance in inclination angle may result its toppling. Hence, mechanism compensate for change angle. An inertial measuring unit (IMU) used sense which then fed microcontroller order actuate connecting link, thereby reducing variation During ascending simulations on dynamic model based Newton–Euler formulation, required torque wheel reduced by 26.3% as compared uncontrolled simulations. Moreover, normal reaction during descending simulation has increased 170.9% controlling angle, probability toppling robot. Multiple experiments prototype with controlled condition show that 77.8% ascending, whereas it 92.8% resulting successful operation stairs cases.