Robot model transporting people climbing stairs

Abstract

The paper presents the results of an experimental analysis of the robot's movement process when transporting people up the stairs of a building. The robot's dynamic equation is set with the center of gravity coordinates that are automatically adjusted stably to all terrains, taking into account the ability to resist rollover. Experiment with a standard staircase with a slope of 3.5° shows that the robot's automatic balancing mechanism and adaptive mechanism respond well during movement. When going up the stairs, the robot does not tip over, the oscillation at the end of the stairs decreases, and the reliability of the properly established dynamic equations of the human transport robot structure is validated. The results of this research can be applied in the design and manufacture of specialized robots for transporting people with disabilities.