Structure Design and Configuration Optimization of the Reconfigurable Deformed Tracked Wheel based on Terramechanics Characteristics

Wheeled locomotion mechanisms can traverse even terrains with high velocity, while tracked locomotion mechanisms can traverse rough terrains. Since different locomotion mechanisms are suitable for different terrains, there has always been a problem to choose appropriate modes according to terrains for all-terrain unmanned ground vehicles (UGVs). In order to make UGVs can traverse various terrains efficiently, based on the concept of mechanism reconfiguration, the reconfigurable deformable tracked wheel (RDTW) is proposed, which can realize wheeled mode and tracked mode. The mechanical design of RDTW is introduced, and the kinematic of reconfigurable rims is investigated. The nonlinear terramechanics model is established by coupling with the deformation parameter of reconfigurable mechanisms. Further, this model is validated by Multibody Dynamics-Discrete Element Method (MBD-DEM) co-simulation and experiments. Based on the theoretical model, the passing ability can be improved by changing the configuration of the mechanism. The simulation and test prove that the structural design of RDTW is reasonable and effective, and the optimal deformation strategy obtained from the terramechanics based on its structure is effective and can be applied in practice. The analysis results show that the nonlinear sinkage curves and traction performance of UGVs can be effectively improved by configuring RDTW. The proposed locomotion mechanism is an important attempt in improving the design of multi-locomotion-mode UGVs.