GROUP 6 Atrij Singhal Faisal Islam

Harshvardhan Prajapati
Ramandeep Singh Sahil Kajal Siddhartha Ravi

Puneet Bhateja
Rohinish Gupta Sharon Vaibhav Sinha

FOLDING STAIR-CLIMBER BOT

The basic idea of our bot is that it climbs the stairs by a series of actions where it folds and unfolds itself and translational motion is achieved by putting wheel and motor which also serves the purpose of differential.

The idea is totally our own and has not been taken from any website.

-group members

PROBLEM STATEMENT
To design a stair-climbing device. This device should be able to climb the stairs for the drawing hall in IITK
Width of the steps: 30cm. Height of successive steps: 12cm.

Considerations:

MAIN FEATURES
Total Weight of the robot: 554gm. A unique folding mechanism It works its way up by folding and unfolding its flaps The angle between the flaps is controlled by servo motors All the plastic flats have been joined together by pin joints with the help of revolute joints

Motors on the base to help in forward and sideways motion of the robot

Two supporting bases, each has four wheels, two of which are driven by independent DC motors Motor driven wheels have been designed so as to have a good grip on the ground

One set of motors is inside the chassis and the other outside to avoid interference during movement
The material chosen for fabricating the chassis is ABS(Acrylonitrile Butadiene Styrene), which is a thermosetting plastic which is sturdy and has good fatigue resistance. Moreover, it is lightweight, has good shock absorbing capacity and can be welded easily(laser welding).

WORKING PRINCIPLE & MECHANISM Position 1

The initial postion is shown in the figure below. Frame 1 rests on the ground. frame 2 will be vertical, while frame 3 and 4 will be as shown.

Position 2
Servo 2 will rotate the frames 3 and 4, upto the next stair (position 2). In position 2, frame 4 rests on ground.

Position 3
Next, servo 1 starts folding the frame 1 towards frame 2. And position 3 is obtained

Position 4
After this, servo 3 starts rotating. The angle between frame 3 and 4 starts increasing. This lifts the frame 1 and 2 upwards. The angle between frame 3 and 4 becomes 90 degree. Hence we obtain position 1 again.

PARTS SPECIFICATION
Servo Motor - Optimum Torque (6.0V): 7 kg-cm
- Weight : 41 gm

DC Motor - 60RPM 12V DC motors

- 2kg-cm torque - Weight : 80 gm

Plastic Flats - manufactured from Acrylonitrile

Butadiene Styrene, or ABS (density = 1.04 gm/cc).

STRESS ANALYSIS FOR POSITION 1

SAFETY FACTOR

DISPALCEMENT DUE TO STRAIN

STRESS ANALYSIS FOR POSITION 3

SAFETY FACTOR

DISPLACEMENT DUE TO STRAIN

TOLERANCE ANALYSIS
1) DC motor shaft and hole tolerance Hole - 8D12
(mm) Shaft hole 8 8 Max (mm) 8 8.185 Min (mm) 7.987 8.040

2) Revolute joint tolerance

(mm) revolute hole 5.75 5.75 Max (mm) 5.740 5.811 Min (mm) 5.643 5.750

TOLERANCE ANALYSIS (contd.)

3) Servo bolt tolerance analysis
(mm) 2.5 Max (mm) 2.530 Min (mm) 2.506

4) Servo shaft and hole tolerance analysis Shaft (5.75 h7) Hole (5.75 F10)
(mm) Shaft hole 5.75 5.75 Max (mm) 5.75 5.798 Min (mm) 5.741 5.760

COST ANALYSIS
S. No 1 2 3 4 5 6 Parts Plastics Flat Servo Motor DC motor Wheels Caster Wheels Revolute Joint Pin Material ABS _ _ _ _ M.S. Quantity 16 3 4 4 4 3 Unit price (Rs) 100 525 150 30 20 2 Price (Rs) 1600 1575 600 120 80 6

Total cost = Rs. 3981/-

THANK YOU