Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-343-2025
https://doi.org/10.5194/ms-16-343-2025
Research article
 | 
15 Jul 2025
Research article |  | 15 Jul 2025

Design and verification of a single-degree-of-freedom driven deformable wheel mechanism

Ce Sha, Yaoyao Huang, Yongli Wang, Bingxiang Wang, Fei Zhou, and Guoxing Zhang

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Cited articles

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Chai, S., Hu, Z., Chen, Y., You, Z., and Ma, J.: Programmable multi-stability of curved-crease origami structures with travelling folds, J. Mech. Phys. Solids, 168, 105073, https://doi.org/10.1016/j.jmps.2024.105877, 2024. 
Endo, K., Wakimoto, S., and Suzumori, K.: Fabrication of origami wheel using pattern embedded fabric and its application to deformable mobile robot, in: 2014 IEEE International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, 14–18 September 2014, IEEE, 451–456, https://doi.org/10.1109/IROS.2014.6942773, 2014. 
Fang, H., Wang, M. J., and Wang, K. W.: 3D printing of origami structures for reconfigurable systems, J. Mech. Design, 139, 102301, https://doi.org/10.1115/1.4037230, 2017. 
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Short summary
A deformable wheel mechanism with a single-degree-of-freedom drive is proposed for improved obstacle crossing in emergency operations. Its kinematics and performance, including its stiffness and expansion ratio, are analyzed and verified through simulations. A lightweight, stable resin prototype enhances expansion and stiffness, showing high adaptability and effectiveness for special vehicle wheels.
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