Design and Development of Self-Balancing Stair Climbing Platform

This paper presents the design and development of a robotic platform capable of climbing stairs while balancing loads. This research aims to address challenges faced by robots in navigating uneven terrain, particularly in disaster response, industrial transportation, and aiding individuals with mobility issues. The robot features a six-wheeled mechanism driven by high-torque DC motors, ensuring both stair-climbing capability and load stability. A gyroscope-controlled self-balancing platform, constructed from lightweight materials, allows the robot to carry and stabilize objects weighing up to 3 kg. Modeling and simulation using CAD and Simulink helped in optimizing the design for torque and power efficiency, while experimental results confirmed the robot's stability and performance. The robot's low-cost design makes it suitable for a variety of practical applications, including use in hospitals and industries.