This article presents a new mobile platform with two-degree-of-freedom (2-DOF) transformable wheels for service robots, which can overcome steps and stairs of various sizes encountered in indoor environments. The concept of the 2-DOF transformable wheel is introduced and the required transformation ranges are examined. In this article, a five-bar PRRRP mechanism is adopted as the base mechanism for 2-DOF transformation. Also, to separate the wheel rotation from the wheel transformation effectively, a four-bar RRPP mechanism is incorporated into the base mechanism. The design variables for the new wheel are determined not only to satisfy the kinematic constraints but also to provide the torque required for the mobile platform called STEP with the new wheels to overcome steps. The experiments using the STEP are performed for different steps and combined steps to prove the good obstacle-overcoming ability of the STEP with the new transformable wheels.

中文翻译：

---

步骤：一种用于服务机器人的带有2自由度可变形轮的新型移动平台

本文介绍了一种新的移动平台，该平台具有用于服务机器人的两自由度（2-DOF）可变形轮，可以克服室内环境中遇到的各种大小的台阶和楼梯。介绍了2自由度可变形轮的概念，并检查了所需的转换范围。在本文中，采用五杆PRRRP机制作为2-DOF转换的基本机制。另外，为了有效地将车轮旋转与车轮变形分开，将四杆RRPP机构并入了基本机构。确定新车轮的设计变量，不仅要满足运动学上的约束，而且还要为带有新车轮的STEP平台提供所需的扭矩，以克服台阶问题。