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10007887
Umbrella Wheel: A Stair-Climbing and Obstacle-Handling Wheel Design Concept
Abstract:
This paper presents a design for stair-climbing using a wheel that can split into segments and walk up stairs or surmount other obstacles often found where humans traverse, while still being able to retain a perfectly round shape for traveling on smooth ground. Using this change of configuration, staircases with a wide range of dimensions can be covered efficiently and safely. The design, named Umbrella Wheel, can consist of as many wheel segments as desired, and as few as two. A smaller or higher number of wheel segments has advantages and disadvantages depending on the specific situation. Modeling the trajectory of the wheel when as it ascends or descends stairs is given and the results are analyzed.
Digital Article Identifier (DAI):

References:

[1] US Patent Nr.: US255693 by J. G. TAUBER.
[2] R.C. Luo, M. Hsiao and T. Lin, ”Errect Wheel-Legged Stair Climbing Robot for Indoor Service Applications”, 2013 IEEE/RSJ International Conferrence on Intelligent Robots and Systems (IROS).
[3] P. Ben-Tzvi, S. Ito and A. Goldenberg, ”Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot”, ROSE 2007 - IEEE International Workshop on Robotic and Sensors Environments.
[4] Y. Sugahara, N. Yonezawa and K. Kosuge, ”A Novel Stair-Climbing Wheelchair with Transformable Wheeled Four-Bar Linkages”, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[5] D. Lu, E. Dong, C. Liu, M. Xu and J. Yang, ”Design and Development of a Leg-Wheel Hybrid Robot ”HyTRo-I””, IROS 2013.
[6] C. Theeravithayangkura, T. Takubo, Y. Mae and T. Arai, ”Stair Recognition with Laser Range Scanning by Limb Mechanism Robot ”ASTERISK””, International Conference on Robotics and Biomimetics 2009.
[7] European Patent number EP2003039B1, ”Trolley for ascending/descending stairs” by Alan Liva.
[8] A. Imadu, R. Tanaka, T. Kawai and M. Shibata, ”Study on Design Methodology of Power-Assisted Luggage Cart with Rotational Arms for Stair Climbing”, SICE Annual Conference 2011.
[9] Danish building regulations (Bygningsreglementet) 01.01.2016 - 30.06.2016 paragraph 3.2.2
[10] International Residential Code, 2006 Stair Building Code.
[11] The Building Regulations Document K, 2013.
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