| Summary: | 碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 100 === ABSTRACT
The existing stair-climbing carriers, which equipped with eight sets of extensible leg and wheel, are essentially stable for moving on level ground and climbing stairs. When climbing stairs, the motions of the legs are simply stretch and shrink, and thus it is easier to obtain desired motion patterns and motion control algorithms for stable climbing. However, their volume might not be suitable for narrow space and home service. Therefore, the main purpose of this study is to simplify the structure of this kind of carriers in order that their volumes, weights and cost can be further reduced.
Firstly, the number of leg-wheel combinations is reduced from eight sets to six. But a carrier with six legs is very unstable for stair-climbing. This is because some of its legs should be shrunk or stretched to leave the stair surface when going upstairs or downstairs. Hence, three different conceptual designs are proposed to enlarge the supporting polygon of the carrier and to increase its stability. The motion patterns and control algorithms for the three designs are also suggested. The three designs are then evaluated by checking their functionality, number of parts and sensors, difficulty of manufacturing, and cost. Finally, the best one of the three concepts is selected for detail design, the strength and rigidity of the final design are confirmed by using stress analysis.
Keywords: Carrier, Stair-climbing, Leg-Wheel Combination
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