This article introduces a new mobile robot with angled spoke-based wheels (ASWs). An ASW is designed by analyzing the combination of the assembling angle with the spokes and the assembling angle with the wheel shaft. It has a specific trajectory in which the spokes are perpendicular to and parallel to the ground simultaneously. Therefore, this wheel is in contact with the ground similar to a conventional wheel, but the wheel trajectory does not exceed the height of the spoke length. Therefore, the robot offers an advantage in that various devices can be freely installed on its upper part. Owing to the geometrical features of the wheel, the wheel shaft is assembled at an angle of 45° on the chassis, and 90°-bevel gears are used to maximize space efficiency. The robot is 85-mm long and weighs 208 g. Using the proposed spoke wheel, the robot can travel on carpet at a sustained speed of 18 body-lengths per second. With regard to overcoming obstacles, the robot can overcome a height of 0.7 times the spoke length. Moreover, it can climb continuous obstacles having a staircase angle of 37.5° and overcome an irregular shape and an arbitrarily formed height of obstacles like a tangled rope. It was also confirmed that the robot could carry the same weight as its own without any significant drop in speed.

中文翻译：

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新颖的基于角度的辐条移动机器人设计，可实现具有越障能力的敏捷运动


本文介绍了一种带有倾斜辐条轮 (ASW) 的新型移动机器人。通过分析与辐条的装配角度和与轮轴的装配角度的组合来设计ASW。它具有特定的轨迹，其中辐条同时垂直于和平行于地面。因此，这种车轮与地面的接触与传统车轮类似，但车轮轨迹不超过辐条长度的高度。因此，该机器人的优点在于可以在其上部自由安装各种装置。由于车轮的几何特点，轮轴以45°角装配在底盘上，并采用90°锥齿轮，以最大限度地提高空间效率。该机器人长 85 毫米，重 208 克。使用所提出的辐条轮，机器人可以以每秒 18 个身体长度的持续速度在地毯上行驶。在越障方面，机器人可以越过0.7倍辐条长度的高度。而且，它可以攀爬楼梯角度为37.5°的连续障碍物，并克服障碍物的不规则形状和任意形成的高度，如缠结的绳子。还证实该机器人可以承载与自身相同的重量，而速度不会出现明显下降。