Liran Zhou

Reconfigurable Straight-Spoke Tri-Wheel Mechanism With Four Bar Linkage for Optimal Stair Climbing

In this paper, we propose a new four-bar linkage reconfigurable wheel for stair climbing. Previous works on reconfigurable wheel-based stairclimbers focus on curved-spoke geometries, but we propose a Y-shaped straight-spoke geometry and show why it is superior via a static analysis. Our mechanism ad