Power-assisted Three-wheel Carrier Cart with Stair-climbing Ability

Isaku Nagai, Daisuke Kijihana, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Carts and suitcases for carrying luggage are a burden to users, especially when they are carried on stairs. Previous studies on mobile robots with stair-climbing ability focused on legs and/or crawlers. However, many actuators and complex mechanisms are needed for leg locomotion. In propulsion using crawlers, the contact area is limited by size. Other robots use a wheel called Tri-star wheel for climbing stairs. This wheel enables both stair climbing and moving on flat floors. In this study, we propose a power-assisted carrier cart using the Tri-star wheel to reduce the burden of carrying luggage. The drive unit for the carrier cart has three drive wheels on each side, and the center shaft is connected to each drive wheel in each spoke like a planetary gear. Thus, this wheel can move on a plane and climb stairs by rotating the spoke. A load sensor on the handle measures the pulling force of the user to control motors according to the force. Consequently, the user can move the cart within a constant force regardless of load weight and terrain conditions. Herein, we present the design of the proposed carrier cart, simulation to investigate the power-assist control, and experiments conducted to evaluate the power-assist performance using a prototype.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages645-650
Number of pages6
ISBN (Electronic)9781665441001
DOIs
Publication statusPublished - Aug 8 2021
Event18th IEEE International Conference on Mechatronics and Automation, ICMA 2021 - Takamatsu, Japan
Duration: Aug 8 2021Aug 11 2021

Publication series

Name2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021

Conference

Conference18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Country/TerritoryJapan
CityTakamatsu
Period8/8/218/11/21

Keywords

  • Power-assisted Carrier Cart
  • Stair-climbing Mechanism
  • Tri-star Wheel

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Power-assisted Three-wheel Carrier Cart with Stair-climbing Ability'. Together they form a unique fingerprint.

Cite this