Dynamic model of a four leg transformable legged wheel

This paper presents the modeling and design of a transformable legged wheel using SolidWorks and 3D printing technology. The primary objective is to enhance the robot’s stability and efficiency on challenging terrains by optimizing the transition between wheel and leg modes. A series of static and dynamic analyses were conducted to optimize the prototype. A mathematical model covering both the torque and the opening of the wheel, allowing seamless transitions between the wheel and the leg modes, validated the effectiveness of the proposed design. This study not only promotes technical excellence in engineering but also opens new avenues for the practical application of innovative technologies to continuously improve the mobility and functionality of adaptive mechanical devices. The dynamic model error was less than 0.1 compared to dynamic simulation results.