Design and dynamic analysis of a slider-crank-based deformable wheel for stair-climbing vehicles

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Abstract
A cost-effective deformable wheel designed to enhance cargo transportation in environments lacking elevators was proposed in this paper. Firstly, the configuration and rotating principle for the deformable wheel has been analyzed in detail, including the main parameters for the wheel. Secondly, the dimensional design for a vehicle with four wheels has been presented base on parameters from the climbing ladders. Thirdly, the virtual prototype for a vehicle has been set up based on the parameter from the designed wheel. Finally, the mostly factors effecting the stability and comfort of a vehicle have been discussed. Results shown that the deformable wheel has a strong ability to climb stairs without impairing stability and comfort. The findings would provide theoretical support and foundation for design and application of a new type of non-inflatable wheel with ability of climbing ladders.

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