TRANSFORMABLE LEG-WHEEL MECHANISM

Abstract

This document presents a two-degree-of-freedom mechanism that can be transformed into a leg and a wheel. The mechanism consists of a base link (attached to the vehicle chassis) and six movable links connected by rotational joints: two proximal links, two intermediate links, one distal link, and one foot link.The two proximal links are joined to the base link by a rotational joint, allowing them to rotate freely around an axis relative to the chassis. Each proximal link is connected to an intermediate link by a rotational joint, and the two intermediate links are connected to each other by a rotational joint. One intermediate link is connected to a distal link by a rotational joint, while the other intermediate link is connected to the foot link of the mechanism by a rotational joint. To complete the kinematic chain of the mechanism, the distal link is connected to the foot link by a rotational joint. The mechanism is driven by two rotary motors mounted on the vehicle chassis. Each motor is coupled to a proximal link, allowing control of the rotation of these links and, in turn, the positions of all the links in the mechanism.Through the coordinated movement of the motors, the mechanism can transform into a wheel and roll on a surface, or it can transform into a leg and walk on a surface.