STAIRCASE CLIMBING MATERIAL HANDLING TROLLEY

1. INTRODUCTION

Lifting objects, loads such as books, food grains etc. to store above the ground level,
or even patients to move upper level from ground is not easy job, especially where there is no
lifting facilities (elevator, conveyer, etc) Moreover, in most of the buildings in the world does
not have elevators or escalators. In this case human labors are considered to be the only
solution. Labor is becoming costly as well as time consuming in the developed countries,
where growth rate is getting negative. This problem can be solved if a vehicle can lift loads
while traveling through stairs. The project introduces a new option for the transportation of
the loads over the stair. Most of the buildings of the country are structurally congested and
unavailing of elevator facility so it is difficult and laborious to lift up heavy loads. The stair
climbing hand trolley can play an important role in those areas to lift loads over a short
height, like libraries, hospital, and in construction area. The vehicle, which can move upper
level through stairs, or run in very rough and rocky surfaces, is called stair climbing hand
trolley or say stair climbing vehicle.
In this project the design and manufacturing of a staircase climbing material handling
trolley has been presented. The trolley is designed in such a way that it can climb a stepped
path (like stairs) with its modified wheel structure. Not only on the stairs, has it also moved
with load over flat or rocky surface. This is the individuality of this trolley. Wheeled rollers
are the optimal solutions for well structured environment like roads or habitations. But off-
the road, their efficiency is very dependent on the typical size of encountered obstacles that
have to be overcome in a standard motion mode. Normal circular wheel is attached here with
nuts and bolts to the frame which guides the set of three wheels are getting power from the
manual pulling effort. The planetary wheels are apart by 120º as shown in fig. 1.1

Fig. 1.1 Planetary wheels

Stairs - are they safe?

Stairs represent spatial efficiency, and minimum risk in regard to slipping compared
to slopes; however stairs have come to be virtually representative of “barriers”.
Are stairs dangerous?
If so why are they dangerous? Firstly are stairs dangerous, any movement from any
given location to another represents risk. The degree of risk increases with distance and the
presence of any obstacles. In this regard steps or stairs are classified as obstacles, and
therefore represent an increased level of risk or danger. The risk increases with age and or the

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 STAIRCASE CLIMBING MATERIAL HANDLING TROLLEY

presence of mobility or sight related disabilities. Statistics are maintained regarding the level
of risk associated with most forms of public transportation, partially to ensure effort is
focused on areas of greatest risk to find means or ways to reduce the risk.

Stair Climbing Techniques

The following are the familiar stair-case climbing techniques.
1. Tri-Star wheel arrangement,
2. Stair climbing robot,
3. Curb-assistive mechanism,
4. Track based stair-climbers
5. Five wheeled stair climbers

1. Tri-Star Wheel Arrangement

The Tri-Star is a novel wheel design—originally by Robert and John Forsyth,
assignors to Lockheed in 1967—in which three wheels are arranged in an upright triangle
with two on the ground and one above them. If either of the wheels in contact with the
ground gets stuck, the whole system rotates over the obstruction. (Patent #3,348,518) Its
most famous application was the Land master, a unique armored personnel carrier (APC)
from the film Damnation Alley. Its common application is employed as a stair climber.

Fig. 1.2 A Tri-Star wheel assembly rotating through a hole

The present disclosure relates to a stair climbing device having at least one climbing
element which can be moved on a circular path so that the element can get in contact with the
next step of a stair and lift or lower the stair climbing device on the next step.

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Fig. 1.3 Tri-Star wheel while climbing steps

2. Stair Climbing Robot

This mechanism like this use a differential to drive the wheels and Tri-Star as desired
from the same motor and used a new method: planetary gears.

Fig. 1.4 DC Motor Fig. 1.5 Isometric view of robot

Most Tri-Star stair climbers use the differential to drive both the wheels and the Tri-
Star with a single motor. The motor drives the differential case and each system is driven
from one of the two outputs. With the stair climbing system, the power from the motor isn't
forced to be distributed evenly like in an automobile; rather, it is free to travel along
whichever path offers the least resistance. On a flat surface, the wheels are easier to turn than
the Tri-Star because the wheels are round and roll easily but the triangle lifts the entire robot
and is opposed by gravity. As a result, when on flat ground, only the wheels turn. However,
once the wheels hit some kind of obstacle like a wall or stairs, the front wheel of the robot
gets stuck. This causes the wheel system to become more resistive than the Tri-Star system.
When this happens, the power gets diverted from the wheels to the Tri-Star and causes it to
climb.

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3. Curb-Assistive Mechanism
One such device provides additional wheels mounted on the front wheel caster assemblies.
The additional wheels are positioned a little forward and higher than the wheelchair’s casters
so as to hit the curb first and raise the front of the wheelchair and enable easier negotiation of
curbs. This is illustrated in Fig. 1.6 and depicted in Fig. 1.6(b). Another device is the
positioning of a hinged curb catcher as shown in Fig. 1.6(c). The curb catcher hits the curb
and rotates as shown by the dotted line resulting in lifting the front of the wheelchair
enabling negotiation curbs.

Fig. 1.6 Curb assistive mechanism

Features –
Raises the curb negotiating ability of a wheelchair’s front wheels - Retrofit able to a wide
range of manually propelled and powered wheelchairs - Low weight
Dis-Advantages –
Increased frontal area required for turning (additional wheel only) - Cannot operate
backwards (curb catcher only) - Not available for or compatible with all types of wheelchairs

4. Track Based Stair-Climbers

Fig. 1.7 Modern single track based stair-climbers

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 STAIRCASE CLIMBING MATERIAL HANDLING TROLLEY

A modern single tracked fully autonomous stair-climber and powered wheelchair is

shown in Fig. 1.7(a) and a platform used to carry a wheelchair and user up or down stairs is
shown in Fig. 1.7(b). The central advantage of the use of tracks is the independence or
robustness regarding the type of stair or surface being negotiated. Disadvantages of track
based operation include the high pressure exerted on the stair edges therefore limiting use to
stairs with appropriately robust leading edges.
An anti-slip mechanism is required while on the stairs and a mechanism is required to ensure
the device changes to and from the stair angle in a controlled manner at the top of stairs.

Negative points –
Must climb stairs backwards - Special mechanisms required for off stair operation
and changing to and from Stair-climb angle - Non slip mechanism required when on stairs
(tread/ knobs), asynchronism between stair edges and tread/ knobs results in high nonlinear
pressures exerted on stair edges - Unsuitable for most indoor stairs and some outdoor stairs -
Heavy (cf. standard power wheelchair - autonomous stair-climbing wheelchair only)

5. Five Wheeled Stair Climbers

Five wheels stair climbing mechanism has 5 wheels set up for load carrier. These 5
wheels are arranged on arm. This arm is made up of steel material. This arm is welded to the
main shaft which will have turning effect while this mechanism is used for stair climbing.
The wheel design should be such that it will take less effort. Material used for wheel should
be hard to maintain total load acting on it without failure. This load carrier works as a general
hand truck on floor. And when approaching stair case this mechanism will work. The wheel
that is on the floor will touch the step height and it acts as a fixed constraint. When an effort
is used to climb the carrier a turning moment will act at the shaft. About this fixed constraint
the shaft will rotate and the next wheel will land on the next step. Now this wheel will act as
fixed constraint and next wheel will land on next step. Likewise mechanism will be repeated
and this mechanism can be used for stair climbing. By using this mechanism the effort
required to pull the carrier is decreased. This mechanism can also be used as a stair climbing
mechanism for wheel chair.

Fig. 1.8 Five wheeled stair-climber

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2. LITERATURE SURVEY

In the year of 2000, a group of researchers [1] introduced a rover type of vehicle to run over
stepped path. Using a rhombus configuration the rover had one wheel mounted on a fork in
the front, one wheel in the rear and two bogies on each side. Researchers around the world
are thinking seriously to redesign such vehicle, which will be economical and affordable.
Chang Hsueh-Er [2] developed a five wheeler trolley, which was driven by manual power.
Anastasias et al. [3] and D. Helmick et al. [4] designed a robotic carrier with belt driven. No
wheel was introduced in his robotic carrier. However, none of them think about automatic
vehicle that can carry loads through stairs. In various research projects all over the world the
different locomotion concepts for mobile robots have been analyzed and new concepts have
been proposed [5, 6]. Good general surveys are provided in [5-12]. In [8] over 300 mobility
concepts and more than 400 navigation concepts have been generated and discussed, yielding
to three candidate systems, a symmetrical walker with six identical legs, a four-wheeled
vehicle and a so called attached scout concept with six wheels.

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3. PROBLEM DEFINATION

What is the problem? – Materials are heavy

Why is it a problem? – It is tough to carry them
Where is it a problem? – When carrying them over the stairs
So, we had to design something that has some room in which a material can be placed; it had
to have some equipment for easy movement on stairs. That would essentially solve our
problem.
Arranging the room is not something that one should think of since it is not a big issue. So,
sorting out the design criteria in this manner made us think of what exactly is the prime most
requirement in our product – and we narrowed it down to the “stair-climbing device”.
First thing that came to our mind was “wheel” – cliché. Arranging two wheels on either side
of a frame does reduce our effort compared to lifting with hand, but it is as bad as riding a
bicycle on the stairs. So, we needed a more efficient technique to serve the purpose.
After a great amount of googling, found out something called “tri-wheel mechanism”.

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4. DESIGN

Design consists of application of scientific principles, technical information and

imagination for development of new or improvised machine or mechanism to perform a
specific function with maximum economy and efficiency.
Hence a careful design approach has to be adopted. The total design work , has
been split up into two parts;
1. System design
2. Mechanical Design.
System design mainly concerns the various physical constraints and ergonomics,
space requirements, arrangement of various components on main frame at system, man +
machine interactions, No. of controls, position of controls, working environment of
machine, chances of failure, safety measures to be provided, servicing aids, ease of
maintenance, scope of improvement, weight of machine from ground level, total weight
of machine and a lot more.
In mechanical design the components are listed down and stored on the basis of
their procurement, design in two categories namely,
1. Designed Parts
2. Parts to be purchased
For designed parts detached design is done and distinctions thus obtained are
compared to next a highest dimension which is readily available in market. This
amplifies the assembly as well as postproduction servicing work. The various tolerances
on the works are specified. The process charts are prepared and passed on to the
manufacturing stage.
The parts which are to be purchased directly are selected from various catalogues
and specified so that anybody can purchase the same from the retail shop with given
specifications.

System Design
In system design we mainly concentrated on the following parameters

1. System Selection Based on Physical Constraints

While selecting any machine it must be checked whether it is going to be used in a large-
scale industry or a small-scale industry. In our case it is to be used by a small-scale industry.
So space is a major constrain. The system is to be very compact so that it can be adjusted to
corner of a room.
The mechanical design has direct norms with the system design. Hence the foremost job
is to control the physical parameters, so that the distinctions obtained after mechanical design
can be well fitted into that.

2. Arrangement of Various Components

Keeping into view the space restrictions the components should be laid such that their
easy removal or servicing is possible. More over every component should be easily seen
none should be hidden. Every possible space is utilized in component arrangements.

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3. Components of System
As already stated the system should be compact enough so that it can be accommodated
at a corner of a room. All the moving parts should be well closed and compact. A compact
system design gives a high weighted structure which is desired. Man Machine Interaction
The friendliness of a machine with the operator that is operating is an important criterion
of design. It is the application of anatomical and psychological principles to solve problems
arising from Man – Machine relationship

4. Chances of Failure
The losses incurred by owner in case of any failure are important criteria of design.
Factor of safety while doing mechanical design is kept high so, that there are less chances of
failure. Moreover periodic maintenance is required to keep unit healthy.

5. Servicing Facility
The layout of components should be such that easy servicing is possible. Especially
those components which require frequents servicing can be easily disassembled.
Scope of Future Improvement
Arrangement should be provided to expand the scope of work in future. Such as to
convert the machine motor operated; the system can be easily configured to required one.
The die and punch can be changed if required for other shapes of notches etc.

6. Height of Machine from Ground

For ease and comfort of operator the height of machine should be properly decided so
that he may not get tired during operation. The machine should be slightly higher than the
waist level, also enough clearance should be provided from the ground for cleaning purpose.

7. Weight of Machine
The total weight depends upon the selection of material components as well as the
dimension of components. A higher weighted machine is difficult in transportation and in
case of major break down, it is difficult to take it to workshop because of more weight.

Mechanical Design
Mechanical design phase is very important from the view of designer as whole
success of the project depends on the correct deign analysis of the problem.
Many preliminary alternatives are eliminated during this phase. Designer should have
adequate knowledge above physical properties of material, loads stresses, deformation and
failure. Theories and wear analysis, He should identify the external and internal forces acting
on the machine parts.
These forces may be classified as;
1. Dead weight forces
2. Friction forces
3. Inertia forces
4. Centrifugal forces
5. Forces generated during power transmission etc
Designer should estimate these forces very accurately by using design equations .If he
does not have sufficient information to estimate them he should make certain practical

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assumptions based on similar conditions which will almost satisfy the functional needs.
Assumptions must always be on the safer side.
Selection of factors of safety to find working or design stress is another important
step in design of working dimensions of machine elements. The correction in the theoretical
stress values are to be made according in the kind of loads, shape of parts and service
requirements.
Selection of material should be made according to the condition of loading shapes of
products environment conditions and desirable properties of material.
Provision should be made to minimize nearly adopting proper lubrications methods.
In, mechanical design the components are listed down and stored on the basis of their
procurement in two categories
1. Design parts
2. Parts to be purchased
For design parts a detailed design is done and designation thus obtain are compared to
the next highest dimension which is ready available in market.
This simplification the assembly as well as post production service work. The various
tolerances on the work are specified. The processes charts are prepared and passed on to the
work are specified.
The parts to be purchased directly are selected from various catalogues and
specification so that anybody can purchase the same from the retail shop with the given
specifications.

DESIGN OF AXLE
Assuming shaft of length 435 mm as a fixed beam, supported by set of wheel clusters on either
ends.

Fig. 4.1 A fixed beam, supported by set of wheel clusters on either ends.

F = 200 kg = 1962 N

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Under equilibrium condition sum of all vertical forces is zero,

Calculation of end reaction at support-
RA – 1962– 1962 + RB = 0
RA + RB = 3924 N
Taking moment about A
ΣmA = 0
(1962 * 130) + (1962 * 565) – (RB * 695) = 0
RB * 695 =13635900
RB = 1363590/ 695
RB = 1962 N
RA = 1962 N
Where,
RA - vertical reaction at A
RB – vertical reaction at B
Shear Force calculation
S.F at A= 1962 N
S.F at C=0
S.F at D= -1962 N
S.F at B= 0

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B.M. Calculation:
Bending moment at A =0
Bending moment at B =0
Bending moment at C
1962 * 130 = 255060 N mm
Bending moment at D
1962 * 130 = 255060 N mm
Considering the maximum bending moment
M= π/32 *d3 * σb (considering F.S. =2)
σb = σyt / factor of safety
For SAE 1040 Yield Stress σyt = 350 N/mm2 (from data book)
Therefore,
σb = 350 / 2 = 175 N/mm2
255060 = π/32 *d3 * 175

(255060*32) / (175 * π) = d3
D = 24.57 mm say 25 mm

D = 25 mm.

Manufacturing stair climbing hand truck

Fig. 4.3 stair dimensions Fig. 4.4 wheel arrangement with frame

Wheel dimensions:
Wheel outer diameter = 120 mm,
inner diameter = 10 mm
Wheel width = 12 mm
Consider the wheel as a thick cylinder for analysis.
Let radial pressure intensity and hoop stress at any radius x is given by
𝑏 𝑏
𝑃𝑥 = 𝑥 2 − 𝑎 And 𝑓𝑥 = 𝑥 2 + 𝑎
2
At x=50mm, Px = 0 N/mm
At x=5mm, Px = 0.624 N/mm2
By substituting these values in the above equations (i.e., Px in )
We get b = 15.75, a = 6.3 x 10-3

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15.75
Hence the hoop stress at any radius is given by 𝑓𝑥 = + 6.3 𝑥 10−3
𝑥2
Hoop stress at outer diameter, fR = 0.0126 N/mm2
Hoop stress at inner radius, fr = 0.6363 N/mm2

Bearing:

B.N. d mm D1 min D mm D2 max B mm Max. Permisible

Speed-rpm
6004 20 23 42 36 12 16000
6005 25 28 47 44 12 16000
6006 30 35 55 50 13 13000

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5. CONSTRUCTION
The construction of the Staircase climbing material handling trolley comprises of the
following parts.

1. Frame:
The frame is a structural element that supports the entire system. The frame carries the
lifting basket and hydraulic jack.

2. Basket:
Basket is a L shape material carrying arrangement for holding material which is slide on the
frame by chain and jack arrangement.

3. Hydraulic Jack
It is 2 tones capacity linear actuator with 125mm displacement.

4. Tri wheel mechanism

The tri wheel mechanism is an assemblage of levers and 3 wheels which are attached 1200
apart.

Fig. 5.1 Disassembly of Stair Climbing

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Fig. 5.2 Assembly of Stair Climbing

1. First of all collect the data of topic on which we are working

2. The important technical issue of the project is speed of vehicle and the size of stair.
3. Select appropriate wheels of greater strength and capacity to carry require load of
material.
4. So, measure the height, width and angle of inclination, and it is observed are as
follows
a. Width of stair 300 mm
b. Height of stair 160 mm
c. Angle of inclination of stair 360

5. Accordingly decide, size of frame in which wheel has to be mounted.

6. Next step is to clamp the wheels and frame with the help of nut, bolt and washer.
7. In this way two set of wheel is prepaid.
8. Now another challenge is come in picture that is of the Design and selection of the
shaft that connects both the set of wheel and also it‟s another function is to carry the
load impulse by the goods place on carriage.
9. After designing the shaft the process of turning, facing, threading, drilling is carried
out to serve the purpose of it
10. Then we select exact bearing which will fit on wheel frame (6205 ball bearing)
11. This bearing is support the shaft at both ends.

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12. Now Shaft which is processed by different operation is inserted in wheel frame on
which bearing is fitted.
13. Shaft and wheel frame is clamped by washer and nut, and also check nut is provided
to have additional tightness
14. In this way, the mechanism which will climb the stair is ready.
15. Next to this, we have to construct the carriage to carry the goods.
16. For this purpose, we select the hollow pipe of 9 mm external dia.
17. Cut it and welded it, according to require shape and size.
18. Then the finishing operation is carried out.
19. Finally Project is ready after painting it.

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Trolley:

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6. WORKING

Fig. 6.1 tri-wheel mechanism

As shown in the figure above, it consists of three wheels each 1200 apart. The whole
assembly can rotate about an axis passing through its centre and also, each wheel can
freely rotate on its own central axis.
Whenever there is an obstruction (stair in our case) in its path, the first wheel that
touches the obstacle stops and the whole assembly rotates till the next wheel touches
the upper face of the stair. Then the assembly rotates again such that the whole
equipment gets on to the top of the stair. The force required in this process is very less
compared to a single wheel.

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7. RESULTS AND ANALYSIS

When the trial was taken it was found that the vehicle was moving well over the stair. It can
move on flat surface uniformly at 20 rpm without any fluctuation and there was no variation
of speed over steps. It was observed that there was very low noise and vibration over flat
surface or stair. It was observed that the trolley was disturbed when it faced the stair of
different step sizes. This was because of the shape and size of the wheel frame. Therefore for
a range of stairs size can be considered for this trolley. Although, different sizes step are not
usually available in building design. It showed good performance when the step size was
uniform. Here in this project separate frame can be used to move over the stair of different
size and shape, which made its use over wide range of size of stairs. From the test run of the
trolley it was seen that the maximum height the trolley could climb the stair whose inclined
angle was 44° maximum. If the inclination is more than 44° it would fail to climb the stair. In
building construction, very few stairs are generally available having inclination more than
that i.e.44°. The smooth ramp angle (θs) was not listed for the vehicle. But it can be easily
predicted that stair inclined angle (θ) is less than that of ramp (θs).

Fig. 7.1 Maximum climbing angle, (θ, θs)

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8. PROCESS SHEETS

PART NO : 1 MATERIAL SPECIFICATION: MS

PART NAME : FRAME RAWMATERIAL SIZE: 35X4X3200
QUANTITY: - 01 NO’S.

Sr. Description Tools Time in minutes

No of Operation
Jigs & M/c Cutting Measuring Setting M/c Total
Fixture Tools Tools Instrument Time Time Time
1. Clamp stock M/C Vice - - - 15 - 15
QUANTITY : 01 No’s
2. Cutting Hacksaw tape - 45 45

2. Facing All M/C Vice - File Vernier 10 25 35

Sides
3. Welding M/C Vice Welding - - 15 20 35

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STAIRCASE CLIMBING MATERIAL HANDLING TROLLEY

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 STAIRCASE CLIMBING MATERIAL HANDLING TROLLEY

PART NO : 2 MATERIAL SPECIFICATION: MS

PART NAME : BUCKET RAWMATERIAL SIZE: 35X4X2600
QUANTITY: - 01 NO’S.

Sr. Description Tools Time in minutes

No of Operation
Jigs & M/c Cutting Measuring Setting M/c Total
Fixture Tools Tools Instrument Time Time Time
1. Clamp stock M/C Vice - - - 15 - 15
QUANTITY : 01 No’s
2. Cutting Hacksaw tape - 45 45

2. Facing All M/C Vice - File Vernier 15 25 40

Sides
3. Welding M/C Vice Welding - - 20 25 45

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STAIRCASE CLIMBING MATERIAL HANDLING TROLLEY

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 STAIRCASE CLIMBING MATERIAL HANDLING TROLLEY

PART NO : 3 MATERIAL SPECIFICATION: MS

PART NAME : WHEEL FRAME RAWMATERIAL SIZE: 35X4X800
QUANTITY: - 01 NO’S.

Sr. Description Tools Time in minutes

No of Operation
Jigs & M/c Cutting Measuring Setting M/c Total
Fixture Tools Tools Instrument Time Time Time
1. Clamp stock M/C Vice - - - 15 - 15
QUANTITY : 01 No’s
2. Cutting Hacksaw tape - 40 40

2. Facing All M/C Vice - File Vernier 10 20 30

Sides
3. Welding M/C Vice Welding - - 10 20 30

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9. COST ANALYSIS

Raw material cost:

Sr no Part name Material wt in Rate / kg Total rate
kg

1 L angle 10 Kg 50 500

2 Shaft 1 Kg 45 45

3 Wheel frame patti 1.5 Kg 42 63

Total  608

Cost of standard parts:

Part name Rate

Bearing 700

Wheel 600

Hydraulic jack 800

Chain 150

Total  2250

Machining cost:
Sr. Name of Tool Time Rate/1hrs. Cost
No. Machine
Power hacksaw Hacksaw
1. 65 min 150 160
M/c Blade

2. Welding 180 min 300 900

Total  1060

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Miscellaneous costs:

OPERATION COST(Rs)

FABRICATION 320
TOTAL  320

TOTAL COST
TOTAL COST = Raw Material Cost + Cost of Std. Parts + Machine Cost + Miscellaneous
Cost
Hence the total cost of machine = 608 + 2250 + 1060 + 320
= Rs 4238/-

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10. ADVANTAGES AND DISADVANTAGES

Advantages:
Following are some advantages of trolley
 Easy to use (It can be easily climbs up steps or Kerbs)
 Reduced human effort (pulling trolley is easier than carrying objects on one’s
hand/shoulder)
 We can carry wide range of objects by adding extra attachments like a bag which can
carry vegetables, milk packets etc.
 Time for carrying things is minimized
 Low cost, durable
 Easy to fix the spare parts like wheels
 As only wheels are in contact with the ground while climbing, no damage is done to
the steps/floor.

Disadvantages:
Following are some disadvantages of trolley
 The product we made can carry only one heavy object (gas cylinder/water can) at a
time.
 Stair climber wheels can sometimes be problematic when trying to turn on flat ground
as four wheels in a fixed position will be in contact with the ground at all times unless
a locking mechanism is built into the trolley.

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11. CONCLUSION

Though this project had some limitation as a first step of making any Stair Climbing
hand trolley, it was a pioneer project. During the test run of this project, it was realized that it
would capable of carrying heavy load without suffering any deformation or local fractures if
it would go into real world production at an ideal scale. The initial cost of the project is less
but more accurate large scale manufacturing would shorten more.

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12. FUTURE RESEARCHERS

A sensor and steering wheel can be implemented to move around the stairs. Sensor
and moter would be a replace of a manual power, which runs the frame wheel. A suspension
system could be incorporated to minimize shock and vibration. Using a timer circuit, the
movement would be more precise, accurate and easy to operate. With the help of timer
circuits, the trolley could run over a predetermined step size smoothly without using any
switch Single motor could be used to move over both the flat and tread of the stairs. It might
be done by introducing an elongated shaft aligned with the wheel frame by using a spring,
the shaft was resisted by an obstacle, and it forced the key to enter inside the notches of the
frame. As a result, the whole frame was bound to rotate along the axis of the axle.

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REFRENCES

[1] Siegwart, R., Lauria, M., Mäusli, P., Winnendael, M., “Design and Implementation of an
Innovative Micro-Rover,” Proceedings of Robotics 98,
the 3rd Conference and Exposition on Robotics in Challenging Environments, April 26-30
1998, Albuquerque, New Mexico
[2] Hsueh-Er, C., “Stair-climbing vehicle, “ Patent No. US2008164665(A1)”, Jan 24. 2008
[3] Mourikis, A.I., Trawny, N., Roumeliotis, S.I., Helmick, D.M., and Matthies, L.,
“Autonomous Stair Climbing for Tracked Vehicles,”
International Journal of Computer Vision & International Journal of Robotics Research -
Joint Special Issue on Vision and Robotics, 26(7), pp
737-758.,2007
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Books:
1. DESIGN OF MACHINE ELEMENTS, Author:- V B BHANDARI
2. P S G DESIGN DATA

Website:
1. www.google.com
2. www.wikipedia.com
3. www.howstuffwork.com

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