Completely Autonomous Stair Climbing Robot | Capstone Project

The purpose of that project is climbing the staircase autonomously that is decided by our faculty. We have designed the robot with 4-wheel and 4-motor to climb staircase. We
used an IMU on our project and thanks to the IMU, the robot knows which stair it is on. Additionally, we get angle data from IMU, so that it helps turning to left on first part of the
staircase. We have used 4 distance sensor to avoid any collision that might be happen while climbing or turning. Based on the data from IMU and distance sensors, the robot completes its
job autonomously. Our robot is about 5 kg and therefore we used high torque motors to easily climbing. The staircase are made from marble, therefore the friction is low and we had to increase the friction between wheels and staircase. That is why, we increased the friction by using tape on wheels. Increasing the friction helps us on climbing but it fights against to us while turning to left at the first stage of staircase. To avoid that fight, we have designed a lifting system that lifts the front of the robot and disconnect the contact of front wheels. So that the robot can easily turn left on its 2 wheels. We put some extra weight to front side of the robot so, we moved the center of gravity to the front and avoid falling back.

We wish to thank our adviser Asst. Prof. Mehmet Berke Gür for his guidance and advice
in the preparation and finalization of this project.

COMPONENTS THAT WE USED:
-Ardunio Mega (for more pin) (1 pcs)
-HC RS04 ultrosonic sensor (4 pcs)
-MPU6050 (1 pcs)
-10 RPM 12V DC motor (4 pcs)
-TB66FNG motor driver (2 pcs)
-STEP Motor (1 pcs)
-A4988 step motor driver (1 pcs)
-11.1V 2200 mAh 3S1P 25C Li-Polymer Battery (1 pcs)
-Step-Up (Boost) Regulator (1 pcs)
-Step-Down (Buck) Regulator (1 pcs)

Bahçeşehir University | 2018