Variable compliance wheel
A system for adjusting the compliance of a wheel is provided. In one embodiment, wheel segments are adjusted, causing the stiffness of the wheel to change. Such adjustments can be made while the wheel is rotating, allowing the wheel compliance to be changed while a vehicle is in motion.
1. A system for modifying the stiffness of a rotating element comprising:
a rim;
a collar member disposed to axially slide on said rim;
a plurality of spoke members each of which comprises a first end fixed to the collar member and a second end fixed to a traction element;
said collar member configured to change a position of said plurality of spokes and thereby adjust a firmness of at least part of the traction element.
2. The system of claim 1 further comprising a tread disposed on an outer surface of said traction element.
3. The system of claim 1 further comprising:
a second collar member disposed to axially slide on said rim; and
a second plurality of spoke members each of which comprises a first end fixed to the second collar member and a second end fixed to the traction element.
4. The system of claim 3 further comprising:
a third collar member disposed to slide on the rim;
a third plurality of spoke members each of which comprises a first end fixed to the third collar member and a second end fixed to the traction element;
a fourth collar member disposed to slide on the rim; and
a fourth plurality of spoke members each of which comprises a first end fixed to the firth collar member and a second end fixed to the traction element.
5. A method of modifying the compliance of a circular element during rotation comprising:
providing a first collar axially slidable on a rim;
connecting first ends of a first plurality of spokes to the circular element;
connecting second ends of the first plurality of spokes to the first collar;
rotating the rim about an axis of rotation; and
sliding the first collar axially on the rim thereby changing a position of the first plurality of spokes relative to the rim and modifying a compliance of the circular element.
6. The method of claim 5 further comprising:
providing a second collar axially slidable on the rim;
connecting first ends of a second plurality of spokes to the circular element;
connecting second ends of the second plurality of spokes to the second collar;
rotating the rim about an axis of rotation; and
sliding the second collar axially on the rim thereby changing a position of the second plurality of spokes relative to the rim and modifying a compliance of the circular element.