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This chapter explores the use of a special type of star-wheel configuration designed specifically to overcome severe terrain obstacles including stairs. Stair-Climber is the latest in a series of models based on the tri-star wheel concept.
The tri-star wheel is a triangular star-wheel arrangement in which the wheels can be driven in a normal fashion for rolling over flat terrain, traversing a terrain gap or climbing over obstacles, as the whole assembly can be rotated. One extreme obstacle for many robotic vehicles—but for which the tri-star configuration really excels—is climbing stairs.
The Stair-Climber model uses a differential to split the drive torque between the two separate drive modes. On a flat surface, the model will roll along like any normal wheeled vehicle. However, as soon as the model encounters enough resistance to start climbing, as when something blocks the wheel from rolling, the drive torque is transferred in order to rotate the wheel assembly that begins the climbing process.
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This page uses JavaScript to progressively load the article content as a user scrolls. Click the View full text link to bypass dynamically loaded article content. Publisher Summary This chapter explores the use of a special type of star-wheel configuration designed specifically to overcome severe terrain obstacles including stairs. Recommended articles No articles found. Citing articles 0 This article has not been cited. Related book content No articles found. Cookies are used by this site.
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