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2 Chapter # • Chapter Title<br />
Bill of Materials<br />
These are the parts you will need to build the <strong>Stair</strong>-<strong>Climber</strong> as shown.<br />
Introduction<br />
<strong>Stair</strong>-<strong>Climber</strong> is the latest in a series of models based on the tri-star wheel concept.The<br />
tri-star wheel is a triangular star-wheel arrangement in which the wheels can be driven<br />
in a normal fashion for rolling over flat terrain (Figure 1.1), traversing a terrain gap<br />
(Figure 1.2) or climbing over obstacles, as the whole assembly can be rotates (Figure 1.3).<br />
One extreme obstacle for many robotic vehicles—but for which the tri-star configuration<br />
really excels—is climbing stairs. When was the last time you saw something with wheels<br />
actually climb a set of stairs?
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