Advancing Stair-Climbing Mechanisms: A Dual-Mobility Robotic Approach for Cleaning Applications

Stairs are part of the architecture infrastructure of a building, and thus challenges for how to clean stairs are plenteous, primarily in multistorey buildings. Conventional stair climbing robots mainly aim at climbing the stairs and are unable to serve effective cleaning along the stair surface. Our research introduces an alternative solution which is to develop a stair-climbing platform including lateral wheels for a holistic and automated stair cleaning. A unique design in wheels utilizing a conjugate profile to provide stable stair climbing and omni-directional motion using lateral rollers is introduced in the project. This kind of compound moving system guarantees the ability of vertical climbing and horizontal covering every stair step and it evidently improves the cleaning efficiency. The approach is based on conceptual design, mathematical modeling, CAD prototyping with SolidWorks, structure and motion analysis using ANSYS, MATLAB and validation of the performance through physical prototypes and sensor measurement. Based on a thorough literature review we indicate a void in current solutions that involve single-sided mobility and lack of a high level of automation. The latter limitations are both overcome in the developed system by including intelligent cleaning functionalities, flexible mechanics and affordable materials making it a potential product for home and industrial needs. This interdisciplinary investigation is likely to advance smart mobility solutions and facilitate “Make in India” efforts and also pave the way for patentable technologies on clocked maintenance systems. The ultimate result is an independent, effective and versatile robotic solution for stair cleaning that makes stair cleaning hands free.