20 - Stair Climbing Robot

Team Members:

Eddie Flores, Harrison Floyd, Inoo Jo, Ian Kao

Summary/Overview:

Our team designed and built a 551-piece stair-climbing robot using simple planar mechanisms. Inspired by the limitations of traditional walking robots, we used six of the same 6-bar linkages connected by four 4-bar parallelograms to navigate the stairs.

Utilizing film joints for intricate in-plane linkages, key challenges included achieving stable motion with a single actuator and tolerancing the many tiny pieces for assembly. The project involved analyzing output paths and mechanical advantage before prototyping.

Summary Video:

Open

Video and Image:

Open

Open

Table of Contents: 

• 20.1 Project Proposal

• 20.2 Kinematic Analysis

• 20.3 Design Process and Prototyping

• 20.4 Implementation

• 20.5 Final Demonstration

• 20.6 Conclusion & Future Work