Radius-increasing Expanding Wheel for Rough Terrain Robots

This study proposes the radius-increasing expanding wheel to solve problems encountered by conventional variable wheels. Conventional wheels have difficulty achieving high-speed travel due to their incomplete circular shape during transformation, leading to non-contact spaces and impacts that contribute to wheel durability deterioration. However, the expanding wheel addresses these issues by improving obstacle-surmounting performance through wheel extension. Three expanding wheels, spaced 45 degrees apart, maintain a circular shape after expansion, reducing non-contact spaces during travel while retaining the advantage of fast travel inherent to wheel locomotion. The expanding wheel is powered by a dual-motor system that allows transitions between regular driving mode, wheel expansion mode, and expansion driving mode, dependent on the relative movement of each motor. The proper movement of the expanding wheel was tested through dynamic analysis using simulation programs. The comparison of expansion velocity to theoretical calculations proved the expansion mechanism’s normal motion. The expanding wheel’s capability to overcome rough terrain makes it a promising solution for mobile robot navigation, with applications in delivery and transportation. © ICROS 2024.