A boundary blow-up for a class of quasilinear elliptic by Liu Ch., Yang Z.

By Liu Ch., Yang Z.

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Qxd 2 4/18/03 6:50 PM Page 2 Masterpeice 1 • Stair-Climber Bill of Materials These are the parts you will need to build the Stair-Climber as shown. 3). One extreme obstacle for many robotic vehicles—but for which the tri-star configuration really excels—is climbing stairs. When was the last time you saw something with wheels actually climb a set of stairs? com/~dc. The Stair-Climber model uses a differential to split the drive torque between the two separate drive modes. On a flat surface, the model will roll along like any normal wheeled vehicle.

Final Step 10 First, attach an axle connector to each motor. Next, align each worm gear as shown, and pin in place with an axle. Final Step 11 Rotate the model so that you are looking at the bottom side, and place four halfbushings as shown. qxd 4/18/03 6:51 PM Page 25 Stair-Climber • Masterpeice 1 Final Step 12 Attach the differential gear housings and bevel gears as shown. The last bevel gear for each housing will be added with the tri-star wheel assemblies in Final Steps 17 and 20. Final Step 13 Attach parts as shown.

6. qxd 4/18/03 6:51 PM Page 11 Stair-Climber • Masterpeice 1 If you opt to build the Stair-Climber using the wider alternate wheel sets, you will need the following parts. This version is slightly stronger owing to the triple sandwich of the tri-beams. If you opt to build the Alternate Wheel Set sub-assembly, rather than the standard Wheel Set sub-assembly built earlier in the chapter, you will need to build four of these. NOTE Fear not, if you opt to build the Alternate Wheel Set sub-assembly, there are no changes to any of the other sub-assemblies in the Stair-Climber.

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