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Curved-Spoke Tri-Wheel Mechanism for Fast Stair-Climbing

Youngsoo Kim, Jongwon Kim, Hwa Soo Kim, TaeWon Seo
2019 IEEE Access  
In this paper, a curved spoke-based tri-wheel mechanism is proposed for fast and robust stair-climbing. The goal speed of stair-climbing is similar to the human speed for variously sized stairs.  ...  The proposed wheel system is composed of a tri-wheel mechanism with a curved spoke, wherein the dimensions of the mechanism are determined based on a kinematic analysis.  ...  CONCLUSION This paper presented a robot design for stair-climbing using a curved-spoke tri-wheel mechanism. Using the mechanism, the robot can climb stairs at a high speed.  ... 
doi:10.1109/access.2019.2956163 fatcat:n7jiqzfnprgvlltq4krfsrbmx4

Quattroped: A Leg--Wheel Transformable Robot

Shen-Chiang Chen, Ke-Jung Huang, Wei-Hsi Chen, Shuan-Yu Shen, Cheng-Hsin Li, Pei-Chun Lin
2014 IEEE/ASME transactions on mechatronics  
In contrast to most hybrid platforms that have separate mechanisms and actuators for wheels and legs, this robot is implemented with a unique transformation mechanism that directly switches the morphology  ...  The performance of the robot is evaluated in various scenarios, including driving and turning in wheeled mode, driving, step and bar crossing, irregular terrain passing, and stair climbing in legged mode  ...  ACKNOWLEDGMENT The authors would like to thank National Instruments' Taiwan Branch for their kind support of this study through equipment and technical consulting.  ... 
doi:10.1109/tmech.2013.2253615 fatcat:6aezr6qwpvefxag3ulh3k7n7iy

Novel Compliant omnicrawler-wheel transforming module [article]

Akash Singh, Vinay Rodrigues, Enna Sachdeva, Sai Hanisha, Madhava Krishna
2018 arXiv   pre-print
Interestingly the robot can transform into a large diameter and small width wheel which enhances its maneuverability like small turning radius and fast/efficient locomotion.  ...  In addition to legged and tracked mechanism, CObRaSO can now display large wheel mode which contributes to its locomotion capabilities.  ...  "The Tri-Wheel: A novel wheel-leg mobility concept."  ... 
arXiv:1806.00765v2 fatcat:uuusrix3ejg5bhgon7lctj7ggy

Page 53 of New McClure's Magazine Vol. 50, Issue 3 [page]

1918 New McClure's Magazine  
Numb, blinded, he stumbled across to the garage and the Go-devil, waiting there ready, looked a while at it iguely, then started it with a push and climbed in The little car took the curve, and rolled  ...  She went very quietly fast, and on out the front way.  ... 

Typical American Touring Cars for 1905

1905 Scientific American  
All valves are mechanically operated and interchangeable.  ...  S"lash and continuous force-feed lubrication, by means of a gear-driven oil Scientific American pump, Is used for motor and transmission.  ...  -For makers of machinery for manufacturing small wooden boxes of different shapes. Handle & Spoke Mchy. Ober Mfg. Co., 10 Bell St., Chagrin Falls, O. Inqniry No. 6<l3S.  ... 
doi:10.1038/scientificamerican01281905-58 fatcat:tzqvzmhaafdo7ovj4bej4iiafi

An Improved Gasoline Traction Engine

1895 Scientific American  
Indeed, he had known a practiced rider who tended position by the downwardly extending arms climbs hills on his machine, but could not mount a of the instrument, as shown in Fig. 1 . flight of stairs  ...  Based upon 200,000 doors opened, closed, and fast ened each day, allowing one minute for every com plete operation, he figured that it cost $500 per day for this insignificant item, .  ... 
doi:10.1038/scientificamerican05111895-294 fatcat:chfvus6u3jgazbxaarvg7zpwhy

Page 5 of Evangelist and Religious Review Vol. 58, Issue 4 [page]

1887 Evangelist and Religious Review  
It almost seemed to Ben as though a voice spoke the words. But Aleck was snoring, and his mother was down-stairs. He could hear her moving around the room.  ...  It does a bullet no good to go fast; and a man no harm to go slow ; for his glory is not at all in going, but in being.—Ruskiu.  ... 

Page 83 of Spirit of the Times Vol. 31, Issue 6 [page]

1861 Spirit of the Times  
Tried inty ‘ion, that Mm, and it le gym. EN. in the mechan. ple art}. Ing, Vary €S8 ya ail from ‘Hand. n intro. lished who ne. 3, a mo.  ...  and your legs the spokes.  ... 

Page 3 of Maine Farmer Vol. 25, Issue 49 [page]

1857 Maine Farmer  
Exactly the words | ¢amp-stool. upon me immediately. 1 tried civil remonstran- | From this point he was to regulate the advance ces, I tried rude speeches, I tried sulky silence—| of stem and stern by  ...  Badgery for the moment. I heard the crape garments rust- ling away from the door; I heard the muffled groans going slowly and solemnly down the stairs again.  ... 

Evolving planar mechanisms for the conceptual stage of mechanical design

Paul Lapok, Alistair Lawson, Ben Paechter
2019 Proceedings of the Genetic and Evolutionary Computation Conference Companion on - GECCO '19  
The design of planar mechanical systems is a challenging and time-consuming task for engineers.  ...  In future, this work has the potential to be developed into an industry tool for assisting engineers in the early stage of planar mechanism design. iv  ...  Figure 49: Mechanism with Two Levers Climbing Stairs The scenario shows a mechanism which is climbing stairs. It consists of two lever components which are attached with joints to a bearing plate.  ... 
doi:10.1145/3319619.3322006 dblp:conf/gecco/LapokLP19 fatcat:k3sjo36mszenzc6uwyw4k6354q

Page 6 of Michigan Farmer Vol. 13, Issue 45 [page]

1882 Michigan Farmer  
Presently the old crab him- self appeared on the stairs, and with him— Pearl Courtney.  ...  GENTLEMEN—Your Hop Bitters have been of great value to me. { was laid up with typhoid fever for two months and could get no relie£ until I tried your Hop Bitters.  ... 

The View through the Lens; On Gratitude; New Glass Cages; Journey through the Night; A Futile Call; He'll not build now, who has no House awaiting [chapter]

2000 Alois Vogel, The Blue House. A Novel.  
Sometimes, when the train rumbled over the points, or when the wheels shrieked around a curve, they seemed suddenly swallowed up, a change Pokorni noted with satisfaction.  ...  As they went down the stairs, Maria asked herself for a moment what it was that she wanted. Where did she want to go?  ... 
doi:10.11157/ogs-vol14id254 fatcat:ywse2ylusbbsziafphxmwjggiq


1900 Minutes of the Proceedings of the Institution of Civil Engineers  
mechanically constructed and preferable in every respect.  ...  an ample curve for running a t a good speed.  ...  his speed was 15 miles an hour over the 5-chain curve.  ... 
doi:10.1680/imotp.1900.18621 fatcat:4zawzmxwlfhvtkdyj7atmacyqe

This Girl

Serena W. Lin
2013 Cream City Review  
Lula laid the tarot cards out mechanically as she spoke. Her eyes drifted away to the long ago memories.  ...  It took me about a month to understand how the mechanism might work. In the meantime, I tried to write my novel about building RITA whenever I could.  ... 
doi:10.1353/ccr.2013.0035 fatcat:6ikqrhd5urbcjedgjw5yvmlczu

Page 3 of Maine Farmer Vol. 23, Issue 34 [page]

1855 Maine Farmer  
, Pumps, Curt Wheels, Seet Sowers, &c. &¢.  ...  Amy Hill spoke of him with a shudder.  ... 
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