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Design and control of a wheel capable of varying its radius over a range of values using a novel transformation mechanism.

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armadillo

Design and control of a wheel capable of varying its radius over a range of values using a novel transformation mechanism. The transformation occurs without any additional actuators. Interestingly the wheel can vary its radius ranging from a large diameter to small diameter which enhances its maneuverability like small turning radius and fast/efficient locomotion.

Skeleton view:

view

Skeleton rear-view:

rear-view

The design methodology is explained with much detail in "design.pdf".

osc

Team:

• Mukesh Gandhi [https://github.com/MukkeshGandhi09]

• Senthur Raj [https://github.com/imsenthur]

• Veejay Karthik [https://github.com/vjkarthik97]

• Soma Karthik [https://github.com/karthiks1701]

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Design and control of a wheel capable of varying its radius over a range of values using a novel transformation mechanism.

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