Abstract
This study presents modular transformable wheels capable of overcoming obstacles. They can be used for indoor service robots or service platforms such as wheelchairs and baby carriages, which often move up and down on thresholds or on sidewalks. The structure of the wheel and transformation mechanism are introduced. The wheel has two built-in brushless DC (BLDC) motors. The BLDC motor is remodeled to add the gear box inside. These motors create a two-degree-of-freedom (2-DOF) transformation of the wheel. The 2-DOF mechanism is achieved by a 7-bar linkage with six rotational joints and one prismatic joint. A platform using the presented modular transformable wheels was used to experimentally verify the ability to climb up and down a staircase.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
