Asymmetric Behavior in the Geometric Model of a Transformable Four-Legged Wheel Mechanism
Transformable wheels offer a geometric means of extending the reach of wheeled locomotion systems, but their design requires explicit relationships between transformation parameters and singularity constraints. This study presents a geometric and kinematic model of a transformable four-legged wheel driven by a trajectory-disc mechanism. Closed-form expressions describe follower displacement, disc rotation, pivot position, leg rotation, and the maximum theoretical leg-tip position. Three geometric cases, comprising two asymmetric cases and one symmetric case, are examined using a scalar Jacobian and the design constraint ΔXr
Authors
- Álvaro Pulido-Aponte (ORCID: https://orcid.org/0000-0002-1695-4584)
- José Luis Ordóñez-Ávila (ORCID: https://orcid.org/0000-0002-3537-1739)
- Claudia L. Garzón‐Castro (ORCID: https://orcid.org/0000-0003-4012-3550)
- Danilo Alvarado (ORCID: https://orcid.org/0000-0002-1362-2920)
- Islam Arbievich Magomedov (ORCID: https://orcid.org/0000-0001-5796-1783)
- Hector Moreno
- Nathan Robertson
- Artur Bagov
Institutions
- Chechen State University (RU)
- Universidad de La Sabana (CO)
- Universidad Autónoma de Coahuila (MX)
- Universidad Tecnológica de Honduras (HN)
- Central American Technological University (HN)
- Kabardino-Balkarian State University (RU)
Publication Details
- Journal
- Symmetry
- Published
- 2026-10-19
- DOI
- https://doi.org/10.3390/sym18101740
- Primary Topic
- Robotic Mechanisms and Dynamics
- Type
- article
- Field-Weighted Citation Impact
- 0.00