Design and Analysis of Transformable Wheel-legged Mobile Robot


  • Zhizhong Lv
  • Bao Yuan



Mobile robot, Deformable wheel-leg mechanism, Link mechanism, Finite element analysis.


Wheeled mobile robot has good ground motion ability, fast moving speed and low energy consumption, but poor obstacle surmounting performance. In order to make the mobile robot have the motion performance in complex environments, the wheel mechanism and the wheel-leg mechanism are coupled and designed, and a deformable wheel-leg structure is designed. The mobile robot can not only move in the wheel mode, but also switch to the wheel-leg mode to adapt to the complex motion environment. The deformable wheel-leg mechanism is composed of a four-bar linkage, and the static analysis of key components is carried out in ANSYS.


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Kenjiro Tadakuma, Riichiro Tadakuma, et al. Mechanical design of the Wheel-Leg hybrid mobile robot to realize a large wheel diameter[A].2010 IEEE/RSJ International Conference on Intelligent Robots and Systems[C],2010

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How to Cite

Lv, Z., & Yuan, B. (2023). Design and Analysis of Transformable Wheel-legged Mobile Robot . Academic Journal of Science and Technology, 4(2), 83–87.