LAUSR

This study aims to analyze the force transmission characteristics of a novel wheel composed of a mechanism of planar crank slider with virtual constraints. The principle of kinematic inversion is applied to analyze the force transmission characteristics of deformable wheel in an innovative way. First, the structural design of deformable wheel and diagram of mechanism motion are presented. Second, the model of force transmission characteristic of deformable wheel is established on the basis of principle of kinematic inversion. Third, the force changes in the two pairs of springs in the deformable wheel are investigated using MATLAB and ADAMS. Finally, the force transmission performance between the deformable and elastic wheel is compared. Results show that the possibility of a flat wheel can be avoided under severe geological conditions, and the force transmission performance is better than that of the traditional elastic wheel. The results of this study can provide theoretical guidance in designing a novel nonpneumatic wheel.