Abstract
In this paper, the kinematic analysis of a series of variable geometry legged wheels is presented. These mechanisms can transform a circular wheel into a hybrid legged wheel in order to combine the efficiency and ability to traverse difficult terrain of each method of locomotion. The inverse and direct kinematic problems of position and velocity are stated and solved. Then, a singularity analysis of the mechanisms is performed. The geometrical conditions that make the Jacobian matrices of the wheels singular are determined and interpreted. Subsequently, an exploration of the workspace is presented to show kinematic features of the wheels inside their operation region.
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