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Aiming at the difficulties of conventional mobile robots in passing through step-like obstacles, a design method for a controllable deformable wheeled stair-climbing robot is proposed. A wheel structure with a variable diameter is designed, which consists of six crank-slider mechanisms and three fan-shaped wheel blades arranged in a circular array. The contraction and expansion of the wheel are driven by controlling multiple sets of motors. According to the feature recognition of obstacles, the shape and diameter of the wheel are adaptively adjusted to achieve the climbing over step-like obstacles. In this thesis, the modeling and simulation, prototype design, control algorithm, and experimental verification of the stair-climbing robot are studied.

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Research on the Design and Control Method of a Controllable Deformable Wheeled Stair-Climbing Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Dongsheng Shao,
  • Lunfei Liang,
  • Xiaoxiong Du,
  • Jiansheng Zhou,
  • Shuo Cao,
  • Yu Liu

摘要

Aiming at the difficulties of conventional mobile robots in passing through step-like obstacles, a design method for a controllable deformable wheeled stair-climbing robot is proposed. A wheel structure with a variable diameter is designed, which consists of six crank-slider mechanisms and three fan-shaped wheel blades arranged in a circular array. The contraction and expansion of the wheel are driven by controlling multiple sets of motors. According to the feature recognition of obstacles, the shape and diameter of the wheel are adaptively adjusted to achieve the climbing over step-like obstacles. In this thesis, the modeling and simulation, prototype design, control algorithm, and experimental verification of the stair-climbing robot are studied.