Velocity Characteristics of Movement of Chassis with Special Wheels for Overcoming Stairs

During the research dealing with design of a special wheel for movement on stairs it was discovered by simulations and tests on a scaled prototype that velocity of the chassis relatively to the stairs slightly oscillates when the rotation speed of the wheels is constant. The article describes a way of determination of required angular velocity of the shaped special wheels that would ensure constant velocity of the chassis during movement on stairs. To solve this task, contact kinematic simulations in the CAD system SolidWorks 2014 were used.