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Design & Simulation
Of a new structure for an autonomous stair climbing robot


Prof. Dr.-Ing. Klaus-Dieter Kuhnert
Dipl.-Inform. Jens Schlemper

Submitted by:

Saeid Sedighi Hafshejani


Taking stairs by a robot is always a huge challenge for engineers. Optimization of several engineering fields should be done to reach this goal. Due to the various applications of stair climbing robots the design of them is unique for each robot. Because of high price of electrical and mechanical components in a stair climbing robot, every new design in this field should be simulated by suitable simulation tools to test the reliability of that. Even the performance of a robot could be modified by simulation. To reach this goal all simulation steps must contain all dynamics and specifications of the robot. In this project we would design and simulate a stair climbing robot to take stairs to be used in oil industry. So the stability and precise of robot is really important in this case. The control unit in this case should be able to control the stability and movements of the robot very well. We have done this project in 3 steps:

Step one: Conceptual design
In this step all kinds of robots and their parts which can be used for the final design have been evaluated to choose the best design for our detail design step.

Step two: Detail design
In this part the chosen design in conceptual section is designed in details to start to do the simulation part. Because of feedbacks from simulation tools we repeated this step several times after the step three to modifying and even changing the detail design to have the best design at the end.

Step three: Modeling and simulation
After these two steps we used simulation tools to evaluate the performance of the robot. The most important criterion for us in this step was the stability of the robot, because of that we repeated this step several times to test the dynamics of the system to find the best design. We have a close loop design in each step to modify our design. It means for each step we used simulation tools to being sure about our results.