Development of variable diameter wheels and their application to mobile vehicles

Abstract

In recent years, 50 years have passed since the period of high economic growth, and due to the collapse of social infrastructure, familiar considerations and differences have arisen. Additionally, due to the increase in natural disasters, it is often difficult to move equipment and operate vehicles on uneven terrain at disaster sites. In this research, we will develop a variable diameter wheel that applies an iris mechanism. This variable-diameter wheel has a simple mechanism that allows the wheel diameter to be increased, decreased, and rotated using two actuators. We will develop and control vehicles with highly traversable mechanisms that can overcome high steps and turn, which are unique to rough terrain environments.