Abstract:  In view of the demands of vehicle mobility and obstacle-crossing ability in complex terrain and road conditions, a deformable wheel structure was designed with the characteristics of switching between wheeled and legged states under different terrain and road conditions. The design principle of the deformable wheel was introduced and the structural parameters were calculated and optimized, the maximum diameter ratio of the wheel-leg deformable wheel was obtained. A set of simple and effective wheel-leg deformation control system was also designed. And then the vehicle layout design and movement process analysis was carried out. Finally, a prototype vehicle platform was made to verify the mobility and obstacle-crossing ability by physical experiments. The results show that the deformable wheel may be quickly and intelligently switched between wheeled and legged types, which enables the vehicle to run stably on both structured and unstructured roads, resulting in a high mobility and obstacle-crossing ability of the vehicle system.

Key words: deformable wheel, maximum diameter ratio, intelligently switch, vehicle control

摘要： 针对当前复杂地形与路况对整车机动性及越障能力的需求，设计了一种轮腿式可变形车轮结构，该车轮结构可在不同地形与路况下进行轮式与腿式的状态转换。介绍了可变形车轮的设计原理并对结构参数进行了计算与优化，分析得到了轮腿式可变形车轮最大变径比。设计了一套简单有效的轮腿式可变形车轮智能变形控制系统，并据此开展整车布局设计，分析整车运动过程。制作并搭建了样车平台，通过实验测试了整车的机动性与越障能力。结果表明该变形车轮可在轮式与腿式状态下快速智能转换，使得整车系统可同时在结构化与非结构化路面稳定行驶，具有较高的机动性与越障能力。

关键词: 可变形车轮, 最大变径比, 智能转换, 整车控制