RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility
Abstract Wheeled mobile robots are efficient on flat surfaces but face limitations in overcoming obstacles like steps due to their fixed wheel radius. This paper presents a novel modular reconfigurable wheel with a dual-degree-of-freedom active reconfigurable mechanism, designed to adapt dynamically...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-05-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-025-98239-x |
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| author | Yanjie Liu Yanlong Wei Tong Feng Chao Wang Heng Wu |
| author_facet | Yanjie Liu Yanlong Wei Tong Feng Chao Wang Heng Wu |
| author_sort | Yanjie Liu |
| collection | DOAJ |
| description | Abstract Wheeled mobile robots are efficient on flat surfaces but face limitations in overcoming obstacles like steps due to their fixed wheel radius. This paper presents a novel modular reconfigurable wheel with a dual-degree-of-freedom active reconfigurable mechanism, designed to adapt dynamically to varying step sizes. The wheel’s structure includes three curved segments, whose synchronized motion is driven by five-bar linkages and two planetary gear systems. By analyzing the kinematic constraints and both forward and inverse kinematics of the reconfigurable wheel, we established the range of dimensions it can surmount over steps, specifically focusing on height and depth, as well as the relationship with the output angles $$q_1$$ q 1 and $$q_2$$ q 2 of the two motors driving the reconfiguration. Simulations using ADAMS software demonstrates the wheel’s capability to maintain smooth, continuous center-of-mass movement over steps and stairs. Moreover, physical prototype testing further confirms the feasibility and advantages of the proposed wheel structure. This adaptive design significantly enhances the performance of wheeled robots in navigating complex environments, offering promising potential for applications in challenging terrain. |
| format | Article |
| id | doaj-art-87dd95e061e24dbebe6e2e0d95ea7784 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-87dd95e061e24dbebe6e2e0d95ea77842025-08-20T03:53:12ZengNature PortfolioScientific Reports2045-23222025-05-0115112410.1038/s41598-025-98239-xRWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobilityYanjie Liu0Yanlong Wei1Tong Feng2Chao Wang3Heng Wu4State Key Laboratory of Robotics and Systems, Department of Mechatronics Engineering, Harbin Institule of TechnologyState Key Laboratory of Robotics and Systems, Department of Mechatronics Engineering, Harbin Institule of TechnologyState Key Laboratory of Robotics and Systems, Department of Mechatronics Engineering, Harbin Institule of TechnologyState Key Laboratory of Robotics and Systems, Department of Mechatronics Engineering, Harbin Institule of TechnologyState Key Laboratory of Robotics and Systems, Department of Mechatronics Engineering, Harbin Institule of TechnologyAbstract Wheeled mobile robots are efficient on flat surfaces but face limitations in overcoming obstacles like steps due to their fixed wheel radius. This paper presents a novel modular reconfigurable wheel with a dual-degree-of-freedom active reconfigurable mechanism, designed to adapt dynamically to varying step sizes. The wheel’s structure includes three curved segments, whose synchronized motion is driven by five-bar linkages and two planetary gear systems. By analyzing the kinematic constraints and both forward and inverse kinematics of the reconfigurable wheel, we established the range of dimensions it can surmount over steps, specifically focusing on height and depth, as well as the relationship with the output angles $$q_1$$ q 1 and $$q_2$$ q 2 of the two motors driving the reconfiguration. Simulations using ADAMS software demonstrates the wheel’s capability to maintain smooth, continuous center-of-mass movement over steps and stairs. Moreover, physical prototype testing further confirms the feasibility and advantages of the proposed wheel structure. This adaptive design significantly enhances the performance of wheeled robots in navigating complex environments, offering promising potential for applications in challenging terrain.https://doi.org/10.1038/s41598-025-98239-xModular reconfigurable wheelDual-Degree-of-Freedom mechanismKinematic analysisADAMS simulationStep-like obstacles navigation |
| spellingShingle | Yanjie Liu Yanlong Wei Tong Feng Chao Wang Heng Wu RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility Scientific Reports Modular reconfigurable wheel Dual-Degree-of-Freedom mechanism Kinematic analysis ADAMS simulation Step-like obstacles navigation |
| title | RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility |
| title_full | RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility |
| title_fullStr | RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility |
| title_full_unstemmed | RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility |
| title_short | RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility |
| title_sort | rwd dof a dual degree of freedom reconfigurable wheel design for improved robotic mobility |
| topic | Modular reconfigurable wheel Dual-Degree-of-Freedom mechanism Kinematic analysis ADAMS simulation Step-like obstacles navigation |
| url | https://doi.org/10.1038/s41598-025-98239-x |
| work_keys_str_mv | AT yanjieliu rwddofadualdegreeoffreedomreconfigurablewheeldesignforimprovedroboticmobility AT yanlongwei rwddofadualdegreeoffreedomreconfigurablewheeldesignforimprovedroboticmobility AT tongfeng rwddofadualdegreeoffreedomreconfigurablewheeldesignforimprovedroboticmobility AT chaowang rwddofadualdegreeoffreedomreconfigurablewheeldesignforimprovedroboticmobility AT hengwu rwddofadualdegreeoffreedomreconfigurablewheeldesignforimprovedroboticmobility |