Mechanism Principle and Dynamics Simulation on Variable Diameter Walking Wheel

Starting from the principle and strategy of changing the diameter of walking wheel, applying ANSYS - FEMBS - SIMPACK to construct model of flexible connectors with geometric stiffness. Based on the theory of continuous collision, we introduce mobile marker to define the nonlinear contact between the wheel´s caster and ground. The rigid-flexible simulation analysis was carried out to wheel body system which consisting of six flexible spring connectors, to get the dynamic response in the mode of changing the diameter in situ and to get the minimum size of torque needing for changing diameter. The simulation´s results provides theoretical basis for subsequent prototype development, and can be used as the references for further experiment´s studying.