Design a Transformable Wheel for Enhancing Mobility of 4-Wheeled Mobile Robot

This paper proposes a design of transformable wheel for enhancing mobility. Mobility evaluation is performed by mechanical theories as stability margin and obstacle overcoming and its calculating methods are used for simulations. A feasibility of suggested transformable wheel is investigated by simulations. The mobility is able to verify by stability margin angle and ability of climbing up an obstacles which is higher than radius of wheel. Simulation results show that suggested transformable wheel can help overcoming a mobility limitation of former designed robot which is with non-transformable wheel.