Mechanism Design and Mechanical Analysis of Reconfigurable Wheel-track Wheel Based on Offset Guide Rod Mechanisms

According to different terrain characteristics, combined with the motion characteristics of wheeled and tracked mobile mechanisms, a reconfigurable wheel-track hybrid deformable wheel with multiple motion forms is proposed and developed. It is composed of a track, wheel body, slewing bearing, and conductive slip ring. In the wheel body, the deformation mechanism, braking mechanism, and turnover locking mechanism can make it realize four kinds of motion forms, such as wheeled form and triangular-tracked form. Based on the corresponding parameter model, the static and dynamic analysis of the deformation mechanism is carried out. Among them, the dynamic analysis puts forward two solutions to the rigid impact problem in the deformation process, and the second solution is systematically modeled. It is found that it can be expressed as a standard second-order system, and the simulation parameters are set according to its characteristics to verify the feasibility of the scheme.