Abstract
The concept of robot vehicle using variable configuration segmented wheels is proposed and the mechanism has been designed and tested successfully. The rim of the segmented wheel is divided into 6 segments which can be deployed and retrieved periodically by moving the hub to an eccentric position. This robot vehicle is able to climb up obstacles and move from land to water surface by controlling the deployment of the segments. Thrusting force can be obtained in water by cyclic motion of the segments. The angle and the direction of deployment of segment are mechanically controlled by duplicated eccentric shafts. Outer eccentric shaft is driven by a body-mounted motor through an idle gear. Steering is achieved by changing the joint angle of divided body. Load contact force equalizing mechanism is simply achieved by a rotation free longitudinal shaft. The experimental data shows that these mechanisms are functioned effectively.
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