Analysis of Stairs-Climbing Ability for a Tracked Chain-Type Robot

• Main Authors: Shan-Wei Zheng 鄭善韋, 鄭善韋
• Other Authors: Syh-Shiuh Yeh 葉賜旭
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/3z9v6h

碩士 === 國立臺北科技大學 === 機電整合研究所 === 99 === By comparing the rescue robot nowadays, so far most of the rescue robots are manipulated by single unit, which limits the robot’s ability deep into disaster area. Furthermore, lack of analytic results from changing position of robots and also short of standardized definition of terrain overcome, only by showing photos and videos for display is not as supportive as experimental data.Consequently, the aim of this study is to design a simple-and-compact tracked chain-type robot to overcome complex terrains in living. The developed tracked chain-type robot comprises of stood tracked robots ; through the use of chain-typed structure and 2-DOF (degree of freedom) joint design, the tracked chain-typed robot can overcome rough terrain easily by pushing, pulling elevating and twisty of tracked robot.In the stair climbing ability experiment, the analytic results from one, two and three units robots shows that maximal stairs height for respective robot are 24.6 mm, 94mm, and 217mm. Thus, through adjustments of joint angle of positioned robots, the subsequent experimental results display that climbing ability actually benefits from increasing the chained units and the results reassure the robot position settings and correct stair height during climbing.In the end, the experimental data proved that chain-type robot can climb stair in consistent with construction regulation that stair is 18 cm in height and 26cm in depth successfully.