Influence of Asymmetric Elastic Lug Angles on Wheel Mobility

Abstract

Asymmetric elastic lugged wheels surpass the performance of traditional fixed-lug or lug-less designs, delivering improved traction on sandy landscapes, superior navigation over irregular terrain, and minimized vibration on flat surfaces. This study explores how the inclination angles of these lugs influences overall mobility. Our findings reveal that while changes in lug angle have a minimal impact on traction during forward rotation in sandy conditions, they boost performance during reverse rotation as the angle increases. Additionally, increasing the lug angle enhances the wheel’s ability to overcome obstacles, highlighting the importance of precise lug positioning in maximizing mobility efficiency.