Abstract
This paper studies climbing stairs by carts with wheels on rotary arms, "planetary wheels". With kinematical constraint, it is found that there are 6 modes of contact between stairs and wheels of the cart. And there are 5 types of transition of the modes according to the dimension of stairs, radius of the wheels and length of the arms. Forces for a person to drag the cart climbing up stairs are measured with 3 sets of wheels and arms. Design guide of planetary wheels is discussed based on the kinematical analysis and the result of the experiment.
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