A Study on Stair Climbing Mechanism using Epicyclic Gear Train

Today, commercial and industrial robots are in widespread use performing jobs more cheaply or with greater accuracy and reliability than humans. They are also employed for jobs which are too dirty, dangerous or dull to be suitable for humans. Robots are widely used in manufacturing, assembly and packing, transport, earth and space exploration, surgery, safety, laboratory research and mass production of consumer and human goods. A mobile robot has been developed for climbing the stairs and obstacles in its path. The main feature of locomotion system is the planetary gear assembly with small wheels. This mechanism has been designed to be able to go over the stairs and obstacles with stability. In this paper a procedure for climbing stairs autonomously is presented. "ESCALATOR" can climb stairs with inclinations. Its weight is distributed in a way that the center of mass is located on its center, which reduces the probability of falling upside down when climbing stairs or obstacles.