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dc.contributor.authorMostýn, Vladimír
dc.contributor.authorKrys, Václav
dc.contributor.authorKot, Tomáš
dc.contributor.authorBobovský, Zdenko
dc.contributor.authorNovák, Petr
dc.date.accessioned2018-02-01T12:27:36Z
dc.date.available2018-02-01T12:27:36Z
dc.date.issued2018
dc.identifier.citationInternational Journal of Advanced Robotic Systems. 2018, vol. 15, issue 1, art. no. 1729881417749470.cs
dc.identifier.issn1729-8814
dc.identifier.urihttp://hdl.handle.net/10084/123584
dc.description.abstractThe article describes the process of development of an essentially new wheel suitable both for moving on flat ground and for travelling on stairs. The stair-climbing wheel is composed of rotary circular segments arranged around a shared carrier with arms to form a complete circular profile of the wheel adapted for moving on flat ground; for travelling on stairs, individual segments are rotated by an appropriate angle to touch down tangentially on the stepping surface of the stairs. The dimensions of individual segments, the centre of rotation of individual segments and the angle of their partial turn have been chosen so that the length of the arc along which the circular segment rolls is equal to the length of the stepping surface of an average stair, and, at the same time, the circular segment touches down tangentially on the stepping surface while the wheel turns around the edge of the previous segment. Using the rotation angle of the turnable segments, the wheel can be adapted to the height of non-standard stairs. The segments can be inclined in both directions for bidirectional movement of the wheel up and down the stairs. An undercarriage equipped with these wheels can be used in the field of exploratory robots and for the transportation of persons and materials on stairs.cs
dc.format.extent856718 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoencs
dc.publisherSagecs
dc.relation.ispartofseriesInternational Journal of Advanced Robotic Systemscs
dc.relation.urihttps://doi.org/10.1177/1729881417749470cs
dc.rightsThis article is distributed under the terms of the Creative Commons Attribution 4.0 License which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages.cs
dc.rights© The Author(s) 2018
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/cs
dc.subjectlocomotioncs
dc.subjectmobile robotcs
dc.subjectmechanism designcs
dc.subjectconceptual designcs
dc.subjectstair-climbing wheelcs
dc.titleThe synthesis of a segmented stair-climbing wheelcs
dc.typearticlecs
dc.identifier.doi10.1177/1729881417749470
dc.rights.accessopenAccesscs
dc.type.versionpublishedVersioncs
dc.type.statusPeer-reviewedcs
dc.description.sourceWeb of Sciencecs
dc.description.volume15cs
dc.description.issue1cs
dc.description.firstpageart. no. 1729881417749470cs
dc.identifier.wos000422918900001


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This article is distributed under the terms of the Creative Commons Attribution 4.0 License which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages.
Except where otherwise noted, this item's license is described as This article is distributed under the terms of the Creative Commons Attribution 4.0 License which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages.