Volume 6, Issue 1 (9-2006)                   Modares Mechanical Engineering 2006, 6(1): 13-30 | Back to browse issues page

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1- Tarbiat Modares University
Abstract:   (8757 Views)
Abstract MSRox is a wheeled mobile robot with two actuated degrees of freedom that has smooth motion on flat surfaces, and has the capability of climbing stairs and traversing obstacles and flexibility toward uphill, downhill and slope surfaces. MSRox with 82.916 cm in length, 54.10 cm in width and 29.249 cm in height has been designed to climb stairs with 10 cm in height and 15 cm in width; nevertheless, it has the capability of climbing stairs up to about 17 cm in height and unlimited width. In this paper, the motion systems and the capabilities of MSRox are described. Furthermore, experimental results of stair climbing and comparison of the results with others are presented.
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Received: 2003/08/30 | Accepted: 2005/04/6 | Published: 2006/08/26