<p>Wheels are widely used because of their high maneuverability on flat ground. Wheel shape transformation designs have been actively researched to address the conventional wheel’s limitation in overcoming obstacles while maintaining their advantages. In this study, we propose an optimized shape-morphing wheel to ensure a consistent level of performance under various ground conditions and driving speeds. We employed the Taguchi method as a robust optimization method using <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="12541_2025_1222_Article_IEq1.gif" Format="GIF" Height="20" Rendition="HTML" Resolution="72" Type="Linedraw" Width="46" /> </InlineMediaObject> <EquationSource Format="TEX">$L_{9}(3^{4})$</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <msub> <mi>L</mi> <mn>9</mn> </msub> <mrow> <mo stretchy="false">(</mo> <msup> <mn>3</mn> <mn>4</mn> </msup> <mo stretchy="false">)</mo> </mrow> </mrow> </math></EquationSource> </InlineEquation> and <InlineEquation ID="IEq2"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="12541_2025_1222_Article_IEq2.gif" Format="GIF" Height="19" Rendition="HTML" Resolution="72" Type="Linedraw" Width="60" /> </InlineMediaObject> <EquationSource Format="TEX">$L_{6}(2\cdot 3)$</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <msub> <mi>L</mi> <mn>6</mn> </msub> <mrow> <mo stretchy="false">(</mo> <mn>2</mn> <mo>·</mo> <mn>3</mn> <mo stretchy="false">)</mo> </mrow> </mrow> </math></EquationSource> </InlineEquation> orthogonal arrays in the first and second experiments. The optimized design parameters are as follows: a spoke central angle of 102.86 degrees, a spokes-to-body weight ratio of 4.95, a magnetic adsorption force of 6.66 N<InlineEquation ID="IEq3"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="12541_2025_1222_Article_IEq3.gif" Format="GIF" Height="9" Rendition="HTML" Resolution="72" Type="Linedraw" Width="8" /> </InlineMediaObject> <EquationSource Format="TEX">$\cdot$</EquationSource> <EquationSource Format="MATHML"><math> <mo>·</mo> </math></EquationSource> </InlineEquation>mm/deg, and a spring constant of 1.4394N. Compared with the initial wheel design, the optimized wheel improved the Z-acceleration standard deviation by 51.4% and the maximum height by 4.2%.</p>

Robust Optimal Design of a Shape-Morphing Wheel with High Speed Locomotion

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发表日期：

2025年2月20日

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Inha Park,
Yebin Pi,
Jeongwon Park,
Hwa Soo Kim,
TaeWon Seo

摘要

Wheels are widely used because of their high maneuverability on flat ground. Wheel shape transformation designs have been actively researched to address the conventional wheel’s limitation in overcoming obstacles while maintaining their advantages. In this study, we propose an optimized shape-morphing wheel to ensure a consistent level of performance under various ground conditions and driving speeds. We employed the Taguchi method as a robust optimization method using $L_{9}(3^{4})$ $L_{9} (3^{4})$ and $L_{6}(2\cdot 3)$ $L_{6} (2 \cdot 3)$ orthogonal arrays in the first and second experiments. The optimized design parameters are as follows: a spoke central angle of 102.86 degrees, a spokes-to-body weight ratio of 4.95, a magnetic adsorption force of 6.66 N $\cdot$ $\cdot$ mm/deg, and a spring constant of 1.4394N. Compared with the initial wheel design, the optimized wheel improved the Z-acceleration standard deviation by 51.4% and the maximum height by 4.2%.