一种用于移动机器人的多段变形轮

变形车轮是提升轮式移动机器人在严苛地形越障能力的有效方案。然而传统单构型变形轮仅能适应特定路面环境，不能同时满足多种路面环境。利用一种平面多边形机构，将已有研究的轮式、扩展式和轮腿式构型相结合，提出了4种多段变形轮机构。同时，比较各构型的优缺点并针对较优方案进行杆长优化，提出相应的设计方法。根据不同路面情况，通过轮形间的有效切换，使得轮式移动机构在越障能力得到提升的同时，还能保证机构对不同种类地形的适应能力，达到提升机构通用性的目的。 

A kind of multistage transformable wheel for mobile robots

The transformable wheel is an effective way to enhance the wheeled mobile robots' obstacle navigation ability in harsh terrain. However, traditional single-structure transformable wheels can only adapt to specific environment and unable to simultaneously satisfy the environments with varieties of harsh terrain. The four kinds of multistage transformable wheel were proposed, which combined a kind of planar polygon with round wheel type, expended wheel type and wheel-leg type structure. At the same time, four different structures' advantage and disadvantages were compared. Giving out the corresponding design method, the length of the linkage was also optimized to propose a better solution. Through the effective shifting between the structures depending on different terrain, wheeled mobile robots' obstacle navigation ability were improved while also the adaptability of different terrains were enhanced to broaden the versatility of the mechanism.