Design of Wheeled Mobile Robot with Tri-Star Wheel as Rescue Robot

Abstract

This study aims to design, and analyze a mobile
\nrobot that can handle some of the obstacles, they are uneven
\nsurfaces, slopes, can also climb stairs. WMR in this study is Tristar
\nwheel that is containing three wheels for each set. On
\naverage surface only two wheels in contact with the surface, if
\nthere is an uneven surface or obstacle then the third wheel will
\nrotate with the rotation center of the wheel in contact with the
\nleading obstacle then only one wheel in contact with the surface.
\nThis study uses the C language program. Furthermore, the
\nminimum thrust to be generated torque of the motor and
\ntransmission is 9.56 kg. The results obtained by calculation and
\nanalysis of DC motors used must have a torque greater than
\n14.67 kg.cm. Minimum thrust to be generated motor torque and
\nthe transmission is 9.56 kg. The experimental results give good
\nresults for robot to moving forward, backward, turn left, turn
\nright and climbing the stairs.