Development of a Physical Prototype Based on the Theory of the Design of Wheels for Stair Climbing

In a world increasingly driven by automation and robotics, mobile robots play a key role in a wide range of applications. In these robots, mobility is essential above all to overcome complex obstacles. This need to overcome obstacles has become a key challenge. It has now been understood that conventional round wheels are no longer the most efficient solution to use on uneven terrain, so new wheels prototypes such as wheels with legs have been designed. These wheels have legs or joints that help climb obstacles such as stairs or uneven terrain, but so far there is no method that helps the design of these wheels in a way that promises their success. This research focuses on addressing this challenge through the implementation of a theory for the design of wheels with legs for stair climbing. The main objective of this research has been to verify the likelihood and effectiveness of the theory by building a physical prototype of a mobile robot capable of climbing stairs. The research process ranges from the detailed design of the prototype based on the calculations provided by the theory using the mor coefficient, by performing tests on steps that have been manufactured for the research. The results obtained confirm that the prototype with wheels based on the theory of the design of wheels with legs manages to overcome the challenge to ascend the stairs. The next step in the research has the potential to go towards the design of hybrid convertible wheels.