| Citation: | YANG Yang, CHANG Jungche, GUANG Chenhan, et al. A kind of multistage transformable wheel for mobile robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1712-1719. doi: 10.13700/j.bh.1001-5965.2017.0580(in Chinese)
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The transformable wheel is an effective way to enhance the wheeled mobile robots' obstacle navigation ability in harsh terrain. However, traditional single-structure transformable wheels can only adapt to specific environment and unable to simultaneously satisfy the environments with varieties of harsh terrain. The four kinds of multistage transformable wheel were proposed, which combined a kind of planar polygon with round wheel type, expended wheel type and wheel-leg type structure. At the same time, four different structures' advantage and disadvantages were compared. Giving out the corresponding design method, the length of the linkage was also optimized to propose a better solution. Through the effective shifting between the structures depending on different terrain, wheeled mobile robots' obstacle navigation ability were improved while also the adaptability of different terrains were enhanced to broaden the versatility of the mechanism.
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