Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot

Table 1

Mechanical components with specifications.

Component	Specs.	Remarks
Block-1 and block-3; Block-2	mm,  mm,  mm, weight = 3 kg; mm,  mm,  mm, weight = 2 kg	Total weight = 7 kg
4 × Omni-directional wheels	Dia = 48 mm
2 × conveyor belt mechanism	mm,  mm
2 × contact switch	SPDT
6 × bumper (long)/RB-Nex-31