Design and obstacle-surmounting performance analysis of wheel-track transformable wheel

Different travelling mechanisms have different adaptability and passability in complex and unpredictable ground environments. In this paper, by considering the advantages of wheel and track, a new wheel-track transformable wheel, which consists of a diameter-varying wheel rim as well as some track parts and changes its travelling mode according to the ground environment, is proposed. According to the ground environment, the transformable wheel can pass complex terrains either in wheel mode or in track mode without changing the driving mechanism, so that it is of excellent adaptability and passability. Moreover, it is designed in a modular mode and can be directly installed in vehicles, just like common inflatable tires. Analysis results of two locomotion modes show that, with the increase of the diameter-varying ratio, the track mode may result in stronger climbing ability and obstacle-climbing capability than the wheel mode.