Configuration Design and Analysis of a Multimodal Wheel with Deformable Rim

For the purpose of improving the terrain adaptability of wheeled robots, a transformable wheel that achieves multimodal locomotion by making use of a deformable wheel rim is proposed. The deformable wheel rim is made of four identical arc rim segments, which joints end by end to make it foldable. By the folding or unfolding of the deformable rim, the transformable wheel can change its motion mode among wheeled mode, tracked mode and legged mode. The configuration properties of the transformable, including the foldable rim track wheel sets are detailed designed in this paper. The transition property of the foldable rim during the mode switch process is also analyzed. The feasibility of which is verified by prototype test on transition and locomotion experiments of different modes. Different from traditional hybrid robots which simply assemble individual wheels, tracks and legs together, this design provide the multimodal robot with not only excellent terrain adaptability but also compact structure, which can be widely used as a universal mobile platform in search and reconnaissance missions.