Stair Climbing Rover

thingiverse

My robot from the Danish [DTU RoboCup](https://robocup.dtu.dk/) competition. The rover was made specifically to solve the stair climbing obstacle. It is built on a rocker-bogie design, making the stair climbing quite easy. See the videos of the robot in the competition below. It was inspired by the great design of this [Martian Rover](https://www.thingiverse.com/thing:1318414). It is however redrawn completely in order to make it possible to turn all wheels separately. Also, I wanted the motors to be inside the wheels, and all wires to be hidden inside the arms. The differential between the two main arms is inside the enclosure to keep the top free for future additions. The main frame has mounting holes all the way around making it easy to mount things inside the enclosure. The design here is missing a few details, like the mount for the camera and a Raspberry Pi. I assume that if anyone want to make this, they will adopt these features for their own needs. The robot is assembled mostly with M3 nuts and bolts. The arms are supported by a long M8 threaded rod.The top lid attaches with magnets. The fully assembled robot is about 430x330x220 mm (LxWxH). Motors: 25GA370 DC 6V Micro Gear Motor, 130RPM, 1:46.8 Couplers: Chihai Motor 4 mm Rigid Flange Coupling Servos: TGY-R5180MG Tires: BS701-002T (103 mm OD, 72 mm ID, 42 mm width) Note that the servos I used may be a bit underpowered if used in rough terrain. On smooth surfaces they are sufficient. You can download all files in one single zip at [Printables.com](https://www.printables.com/model/194299-stair-climbing-rover). If you want to edit the model, you can also find STEP files there.