This study aims to design, and analyze a mobilerobot that can handle some of the obstacles, they are unevensurfaces, slopes, can also climb stairs.WMR in this study is Tristarwheel that is containing three wheels for each read more set.Onaverage surface only two wheels in contact with the surface, ifthere is an uneven surface or obstacle then the third wheel willrotate with the rotation center of the wheel in contact with theleading obstacle then only one wheel in contact with the surface.
This study uses the C language program.Furthermore, theminimum thrust to be generated torque of the motor andtransmission sheepshead bay boats is 9.56 kg.
The results obtained by calculation andanalysis of DC motors used must have a torque greater than14.67 kg.cm.
Minimum thrust to be generated motor torque andthe transmission is 9.56 kg.The experimental results give goodresults for robot to moving forward, backward, turn left, turnright and climbing the stairs.