Introduction

                Stair Climbing Robot is a small robot for indoor environments. On even floor it drives like many other small robots with a differential drive. By this mechanism it can together with its special tri- star wheel and a support reliably climb up and down regular sized stairs. It was one of the objectives for the design to use as few actuators and sensors as possible. Stair Climbing Robot is a robot capable of climbing full size stair and driving at a reasonable space. This robot should also be able to carry the load of an average adult to act as a way to ascend stairs for those reliant on wheel chairs.   The main part of this robot is a special tri- star wheel. The tri- star wheel stair climbers use the differential to drive both the wheels and the tri- star wheel with a single motor. The motor drives the differential case and each system is driven from one of the two outputs. With the stair climbing system, the power from the motor isn't forced to be distributed evenly like in a car, rather, it is free to travel along whichever path offers the least resistance.