Transformable Wheel-Leg Assembly for Irregular Terrain Mobility
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Solution Overview
Problem
Conventional wheels face limitations on irregular terrains and obstacles, and legged locomotion systems suffer from structural, mechanical, and control complexities, making them less versatile for navigating diverse environments.
Innovation Solution
A transformable wheel assembly with a spoke frame and central gear that drives pivotable legs between closed and open positions based on the direction of rotation, allowing for adaptive movement between wheel and legged forms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional wheels are used for locomotion, then simple structure and ease of operation are achieved, but the ability to navigate irregular terrains and obstacles is limited
Solution Approach 1:
The wheel assembly incorporates legs that can dynamically transform from a retracted position (wheel mode) to an extended position (legged mode). The legs are equipped with articulation joints that allow passive transformation based on terrain conditions, enabling the system to adapt its configuration without complex active control mechanisms.
Solution Approach 2:
The transformable wheel assembly serves multiple functions: it can operate as a conventional wheel on smooth surfaces, transform into a legged configuration for obstacles and irregular terrains, and provide passive adaptation to terrain variations. This multi-functionality resolves the contradiction by enabling versatile navigation while maintaining a relatively simple overall structure.
2Adaptability or versatility
If legged locomotion is used to overcome terrain limitations, then versatility on irregular terrains is improved, but structural and mechanical complexity increases significantly
Solution Approach 1:
The leg transformation mechanism is designed to passively respond to terrain conditions through the natural forces encountered during operation. The leg articulation joints automatically adjust the leg configuration based on applied forces without requiring complex sensors or active control systems, thereby reducing mechanical complexity while maintaining adaptability.
Solution Approach 2:
The legs incorporate articulation joints that enable dynamic transformation between extended and retracted positions. This dynamic capability allows the system to adapt to varying terrain conditions while using a relatively simple mechanical structure that relies on passive transformation rather than complex active control mechanisms.
3Ease of operation
If active control mechanisms are used for leg transformation, then precise control is achieved, but system complexity and energy consumption increase
Solution Approach 1:
The leg transformation is achieved through passive mechanisms that automatically respond to terrain forces without requiring external control signals or energy input. The articulation joints and mechanical linkages self-adjust based on the forces applied during operation, eliminating the need for complex active control systems and reducing energy consumption.
Solution Approach 2:
The invention extracts the active control mechanism from the leg transformation process, relying instead on passive mechanical transformation driven by terrain forces. This removal of active control elements simplifies the system and reduces energy consumption while maintaining adequate transformation capability.
4Use of energy by moving object
If passive transformation is used for leg deployment, then energy consumption is reduced, but control precision may be compromised
Solution Approach 1:
The passive transformation mechanism automatically adjusts leg configuration in response to terrain forces, providing adequate control precision for the intended application. The mechanical linkages and articulation joints are designed to naturally position the legs in appropriate configurations based on the forces applied during operation on different terrains.
Solution Approach 2:
The passive transformation system changes the physical state and position parameters of the legs based on terrain conditions. The articulation joints and mechanical linkages automatically adjust leg angle, position, and configuration in response to varying terrain forces, providing sufficient control precision without requiring active control systems.
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 of various terrains and obstacles by passively transforming between wheel and legged modes, enhancing versatility and simplifying control, while maintaining a smooth rolling surface and traction.
Implementation Method 1
A plurality of leg teeth are formed on the arcuate distal interior edge. The leg teeth engage the central gear such that the central gear drives the plurality of legs between a closed position and an open position based on a direction of rotation of the central gear.
Data Source
AI summary
A transformable wheel assembly includes a spoke frame and a central gear coupled to the spoke frame. A plurality of legs are pivotably coupled to the spoke frame. The plurality of legs include an arcuate outer surface and an arcuate distal interior edge. A plurality of leg teeth are formed on the arcuate distal interior edge. The leg teeth engage the central gear such that the central gear drives the plurality of legs between a closed position and an open position based on a direction of rotation of the central gear.