Passive Transformable Wheel for Robot Obstacle Climbing
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Solution Overview
Problem
Existing transformable wheels for robots are complex and require actuators to adapt to terrain, making them unsuitable for small robots due to power consumption and complexity, while round wheels cannot climb obstacles and legged wheels have poor driving performance on flat surfaces.
Innovation Solution
A passively transformable wheel that maintains a round shape on flat surfaces and transforms into a legged shape by frictional contact with obstacles, using a trigger leg and passive legs without the need for actuators, reducing the number of parts and complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a round wheel is used, then driving performance on flat surfaces is good, but the ability to climb obstacles is insufficient
Solution Approach 1:
The wheel structure is made dynamic by allowing the legs to rotate between folded and extended positions. The rotation shafts enable the legs to adapt their configuration based on terrain requirements, transforming from a static round wheel to a dynamic legged-wheel hybrid structure that can climb obstacles while maintaining simple round wheel operation on flat surfaces
Solution Approach 2:
The wheel is divided into modular components: a round wheel base and multiple detachable legs with rotation shafts. This segmentation allows the legs to be independently positioned and controlled, enabling obstacle climbing capability while keeping the base structure simple and suitable for flat surface operation
2Adaptability or versatility
If a legged-wheel structure is used, then obstacle climbing ability is improved, but driving performance on flat surfaces deteriorates
Solution Approach 1:
The legged-wheel structure dynamically adapts its configuration based on terrain. On flat surfaces, the legs are folded to maintain a smooth round wheel profile for efficient rolling. When obstacles are detected, the legs extend to provide climbing capability, thus optimizing speed on flat surfaces while maintaining obstacle climbing ability
3Adaptability or versatility
If actuators are used to transform the wheel, then adaptability to terrain is improved, but power consumption and device complexity increase
Solution Approach 1:
The transformation mechanism uses passive friction-based engagement rather than active actuators. When the wheel encounters an obstacle, the friction force automatically causes the legs to extend through the rotation shafts without requiring motorized actuation. This self-service mechanism dramatically reduces power consumption while maintaining terrain adaptability
Solution Approach 2:
Friction acts as an intermediary mechanism that translates obstacle contact forces into leg extension movements. The friction-based engagement of the rotation shafts converts the mechanical energy from obstacle contact into the transformation action, eliminating the need for dedicated actuators and reducing power requirements
4Adaptability or versatility
If a complex gear box with multiple parts is used, then transformable wheel functionality is achieved, but manufacturing complexity and cost increase
Solution Approach 1:
The complex gear box mechanism is extracted and replaced with a simplified friction-based rotation system. The essential transformation functionality is retained by using friction engagement to drive the rotation shafts, eliminating unnecessary gears, motors, and control mechanisms while maintaining the ability to transform between round wheel and legged-wheel configurations
Solution Approach 2:
The transformation mechanism relies on changing friction parameters rather than complex mechanical transmissions. By adjusting friction coefficients through surface treatments or material selection, the system achieves reliable transformation without requiring precision-geared mechanisms, simplifying manufacturing while maintaining functionality
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient navigation on flat surfaces and obstacle climbing with reduced power consumption and simplified manufacturing, suitable for swarm robots in search and rescue missions.
Implementation Method 1
a passively transformable wheel which keeps a circular wheel shape on a flat surface and which, upon encountering an obstacle, transforms to a legged wheel by merely making contact with the obstacle without having to use an actuator
Data Source
AI summary
A passively transformable wheel includes a wheel base including a centrally positioned transmitter rotation shaft and one or more passive leg rotation shafts positioned in the outer periphery; a force transmitter rotatably coupled to an end of the transmitter rotation shaft, the force transmitter including a trigger slide and one or more passive leg joints spaced apart from one another; a trigger leg arranged between the wheel base and the force transmitter and rotatably coupled to the trigger leg rotation shaft, the trigger leg including a trigger joint fitted to the trigger slide; andone or more passive legs arranged between the wheel base and the force transmitter so as not to interfere with the trigger leg and rotatably coupled to the passive leg rotation shafts, the passive legs including one or more passive leg slides engaging with the passive leg joints of the force transmitter.