Table 8 Design parameters of the two prototypes built for the experimental verification.

From: Design exploration and comparative analysis of tail shape of tri-wheel-based stair-climbing robotic platform

Tail mechanism

Design parameter

\(l_1\)

\(l_2\)

\(\theta \)

\(d_w\)

h

Basic tail mechanism

550

–

Tri-wheel mechanism (case 2)

550

115

120

100

64

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