Deformable wheel and robot equipped with same
A deformable wheel includes: a plurality of lobes; wheel spokes connected to the plurality of lobes, respectively; and hinges pivotably connecting the wheel spokes to the lobes, wherein the wheel spokes are capable of two degree-of-freedom motion, and the plurality of lobes either form a circular shape due to the two degree-of-freedom motion of the wheel spokes, or separate from each other to form a deformed shape.
1. A deformable wheel, comprising:
a plurality of lobes;
wheel spokes connected to the plurality of lobes, respectively; and
hinges configured to pivotally connect the wheel spokes to the plurality of lobes,
wherein the wheel spokes have two degree-of-freedom motion, and
wherein the plurality of lobes form either a circular shape or a deformed shape separated from each other due to the two degree-of-freedom motion of the wheel spokes.
2. The deformable wheel according to claim 1 ,
wherein a wheel radius (r) and a lobe angle (θ) of a wheel spoke from the wheel spokes are respectively controlled by the two degree-of-freedom motion.
3. The deformable wheel according to claim 1 ,
wherein a wheel spoke from the wheel spokes includes:
a fixing member having a plurality of distal ends;
front pulleys and rear pulleys respectively provided at a center and the plurality of distal ends of the fixing member;
a rotation pulley disposed at each front pulley;
a hinge pulley linked with the rotation pulley by a rotation belt and fixedly connected to the lobe; and
a pulley member having one end fixedly connected to the rear pulley provided at the distal end and another end on which the hinge pulley is disposed,
wherein the front pulleys are linked with each other by a front belt and the rear pulleys are linked with each other by a rear belt.
4. The deformable wheel according to claim 1 ,
wherein a wheel spoke from the wheel spokes includes:
a fixing member;
a rotary member having a plurality of distal ends, the rotary member rotatable with respect to a shaft of the deformable wheel;
a link member having one end pivotally connected to one of the plurality of distal ends of the rotary member and another end connected to be pivotal at a first hinge of the lobe;
pulleys respectively disposed at a center and the plurality of distal ends of the fixing member; and
a pulley member having one end fixedly connected to the pulley provided at the distal end and another end connected to be pivotal at a second hinge of the lobe,
wherein the pulleys are linked with each other by a belt.
5. The deformable wheel according to claim 1 ,
wherein a wheel spoke of the wheels spokes includes:
a first rotary member and a second rotary member respectively having a plurality of distal ends, the first rotary member and the second rotary member rotatable with respect to a shaft of the deformable wheel;
a first link member having one end pivotally connected to one of the plurality of distal ends of the first rotary member;
a slide member to which another end of the first link member is pivotally connected, the slide member being connected to be pivotal at a first hinge of the lobe; and
a second link member having one end pivotally connected to one of the plurality of distal ends of the second rotary member and another end connected to be pivotal at a second hinge of the lobe.
6. The deformable wheel according to claim 1 ,
wherein a wheel spoke from the wheels spokes includes:
a first pinion and a second pinion that are rotatable with respect to a shaft of the deformable wheel;
a first rack engaged with the first pinion;
a second rack engaged with the second pinion; and
a hinge member having one end pivotally connected to the first rack and another end connected to be pivotal at a first hinge of the lobe,
wherein the second rack is connected to be pivotal at a second hinge of the lobe.
7. The deformable wheel according to claim 1 ,
wherein a wheel spoke from the wheel spokes includes:
a first rotary member and a second rotary member respectively having a plurality of distal ends, the first rotary member and the second rotary member rotatable with respect to a shaft of the deformable wheel;
a first link member having one end pivotally connected to one of the plurality of distal ends of the first rotary member;
a first slide member to which another end of the first link member is pivotally connected;
a second link member having one end pivotally connected to one of the plurality of distal ends of the second rotary member;
a second slide member to which another end of the second link member is pivotally connected, the second slide member being connected to be pivotal at a second hinge of the lobe; and
a hinge member having one end pivotally connected to the first slide member and the other end connected to be pivotal at a first hinge of the lobe.
8. The deformable wheel according to claim 1 ,
wherein a wheel spoke from the wheel spokes includes:
a fixing disk;
a link disk that is movable with respect to a shaft of the deformable wheel:
a piston disposed on the fixing disk to reciprocate in a radial direction and pivotally connected to the lobe; and
a pair of link members that form a four-bar link between the lobe and the link disk.
9. The deformable wheel according to claim 1 ,
wherein a wheel spoke from the wheel spokes includes:
a first disk and a second disk that are movable with respect to a shaft of the deformable wheel;
a first link member having one end pivotally connected to the first disk;
a first slide member to which another end of the first link member is pivotally connected;
a second link member having one end pivotally connected to the second disk;
a second slide member to which another end of the second link member is pivotally connected, the second slide member being connected to be pivotal at a second hinge of the lobe; and
a hinge member having one end pivotally connected to the first slide member and the other end connected to be pivotal at a first hinge of the lobe.
10. A mobile robot, comprising:
a deformable wheel according to claim 1 ; and
a driving unit configured to control the deformable wheel.