This study aims to determine the structural parameters of the equivalent vertical stiffness design of a modular deformable wheel. A gas stiffness model in the air cavity of the modular deformable wheel is established on the basis of the wheel’s structure and the ideal gas equation. Then, the change curve of the radial stiffness of the modular deformable wheel is obtained, and the design model of the equivalent vertical stiffness of the wheel is constructed on the basis of the gas stiffness model. Finally, some relevant design parameters of heavyweight and lightweight wheels are obtained through numerical calculation based on existing experimental data. The results show that the design parameters of the equivalent vertical stiffness of the modular deformable wheel can meet the ride comfort requirements of vehicles. The obtained wheel structure parameters and mechanical parameters will provide effective theoretical compliance for the selection of this type of wheel. Moreover, this modular deformable wheel not only meets the requirements of the riding comfort of pneumatic wheels, but also has the advantages that common pneumatic wheels do not have (such as explosion-proof and puncture-proof functions), which also provides the practical theoretical basis for the use and promotion of this wheel in the complex geological environment.

本研究旨在确定模块化可变形轮的等效垂直刚度设计的结构参数。基于车轮的结构和理想气体方程，建立了模块化可变形车轮气腔内的气体刚度模型。然后，获得了模块化可变形轮的径向刚度的变化曲线，并在气体刚度模型的基础上构造了等效轮垂直刚度的设计模型。最后，在现有实验数据的基础上，通过数值计算，获得了一些重量级和轻量化车轮的相关设计参数。结果表明，模块化可变形轮当量垂直刚度的设计参数可以满足车辆的乘坐舒适性要求。获得的车轮结构参数和机械参数将为选择此类车轮提供有效的理论依从性。而且，这种模块化变形轮不仅满足气动轮乘坐舒适性的要求，而且具有普通气动轮不具备的优点（如防爆，防刺功能），也提供了实用的理论依据。在复杂的地质环境中使用和推广该砂轮的基础。