Goods Transport and Stair Climbing Robot Using Arduino UNO with Bluetooth Control

Abstract

Staircases pose a significant mobility challenge for conventional wheeled robots, limiting their usability in multi-level environments. This paper presents the design and implementation of a cost effective stair climbing robot controlled via Bluetooth. The system employs a tri wheel mechanism mounted between Y frames, enabling rotational and climbing motion for efficient stair traversal. An Arduino?UNO microcontroller, programmed in C/C++, processes wireless commands from an HC 05 Bluetooth module and drives four DC motors via relay switches. The design combines open source embedded hardware with mechanical simplicity—eschewing complex crawler systems—while maintaining continuous ground contact and stable stair navigation. Validated through Proteus simulation and real world testing, this scalable platform offers a reliable solution for automation, healthcare, disaster response, and assistive robotics. Its modular architecture also allows easy integration of additional sensors and control modalities to meet evolving application needs.Validated through simulation and physical testing, the robot offers a reliable, scalable platform for deployment in terrain challenged environments.

Introduction

Stair-climbing robots are designed to navigate multi-level environments where traditional wheeled robots struggle. Among various designs, the tri-wheel mechanism is favored for its mechanical simplicity, reliability, and low power needs. Prior advanced systems use complex tracked or articulated modules, but they tend to be costly and complicated.

This project develops a low-cost, Bluetooth-controlled stair-climbing robot using a tri-wheel assembly mounted on a lightweight Y-frame. It employs an Arduino UNO microcontroller for control and communication, with four DC motors driven via relay circuits instead of conventional motor driver ICs. The HC-05 Bluetooth module allows wireless remote control from a smartphone app.

Key Components & Features:

• Tri-Wheel Mechanism: Three wheels spaced 120° on a rotating hub enable continuous traction and step-over action without active suspension.

• Arduino UNO: Processes Bluetooth commands, controls relays for motor direction, programmed in C/C++.

• Relay Motor Control: Four relays (one per motor) handle forward, reverse, and turning by switching motor polarity, offering simple and robust actuation.

• Bluetooth Communication: HC-05 module enables real-time wireless command input within ~10 meters range.

• Power Supply: 12V lead-acid battery with voltage regulator powers motors and logic circuits.

• Software & Simulation: Firmware developed and tested via Proteus simulation for stable, responsive control.

Operation:
Users send directional commands (forward, backward, left, right, stop) via a mobile app. Arduino decodes commands, activates relays to drive motors accordingly, and the tri-wheel mechanism physically climbs stairs by sequential wheel rotation. The system achieves smooth, balanced traversal of standard stair risers (6-8 inches), validated through practical tests.

Conclusion

The design and successful implementation of a Bluetooth-controlled stair-climbing robot using the Arduino UNO and relay-based motor control system demonstrates the effectiveness of combining mechanical simplicity with embedded system design. The tri-wheel mechanism, integrated with a Y-frame structure, proved to be a reliable and cost-efficient solution for navigating multi-level environments without requiring complex or expensive actuation systems. By replacing traditional motor drivers with independent relay switching, the project offers a robust alternative for controlling high-current DC motors while maintaining ease of integration and hardware flexibility. The Arduino-based firmware ensured responsive real-time communication with a mobile interface, enabling intuitive directional control and smooth stair traversal. Through detailed simulation using Proteus and practical validation on physical staircases, the robot showcased consistent performance in climbing, turning, and stopping under dynamic conditions. Its modular construction and scalable logic architecture provide a strong foundation for future enhancements such as autonomous navigation, sensor-based obstacle detection, and cloud-integrated remote control. Overall, this project delivers a practical, adaptable, and accessible mobility solution for terrain-challenged environments, opening new opportunities for applications in assistive robotics, smart automation, logistics, and emergency response systems.

References

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Copyright

Copyright © 2025 B. Devi, M. Manasa Sowmya, K. Soma Sekhar, D. Praveen, Harshith B., Y.H.D. Aparna, Dr. B. Siva Prasad. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.