Principle and Dynamics Simulation Analysis of Varying Strategy of a Novel Variable Diameter Walking Wheel

Abstract

According to structure feature and principle of relying on relative rotation among hubs to realize elastic deformation of elastic spoke and varying diameter of a novel variable diameter walking wheel, finite element model was created based on the theory of continuous collision and the nonlinear contact between the wheel’s caster and ground was defined through introducing mobile marker in SIMPACK software. Dynamics simulation analysis was carried out respectively under two varying diameter strategies of the wheel and get the dynamic response in the mode of changing the diameter in situ and the minimum size of torque needing for varying diameter. The suitable for working condition and varying mode was pointed out via comparative analysis of the simulation’s results, and can provide theoretical basis for further rational design and study.