关键词: 全方位爬楼机器人, 双足攀爬, 全方位移动, 复合轮组, 结构设计

Abstract: In view of the common problems of complex structure and insufficient motion stability in current stair-climbing robots, it proposes a novel design scheme for an all-terrain stair-climbing robot. The design is based on a comprehensive review of existing research on stair-climbing mechanical structures and draws inspiration from the movement mechanism of bipedal climbing. The robot achieves hierarchical climbing through the active rotational drive of its stair-climbing robotic arms,which simultaneously propel the main structure to move upward. The drive system innovatively adopts a composite wheel configuration combining Mecanum wheels and omnidirectional auxiliary wheels. This configuration effectively enhances the system′s stability during the climbing process and significantly improves the operation efficiency during flat-surface movement and obstacle avoidance. The control system is equipped with an ESP32-S3 main control chip. Through customized control algorithms,it enables precise analysis of sensor signals and intelligent execution of stair-climbing actions. After the development of a physical prototype and its adaptation tests on various types of stairs,the stair-climbing robot has been verified to complete climbing tasks stably and efficiently. Moreover,it has the technical potential to be adapted for multi-field applications through modular modifications.

Key words: stair-climbing robot, bipedal climbing, all-terrain mobility, compound wheel set, structural design