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Innovative concept of unfoldable wheel with an active contact adaptation

mechanism

Article · July 2002

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12th IFToMM World Congress, Besançon, June 18-21, 2007

Innovative concept of unfoldable wheel

with an active contact adaptation mechanism
Ch. Grand(1,2) , Ph. Bidaud(1) , N. Jarrassé(1)
(1) Laboratoire de Robotique de Paris,

University Pierre et Marie Curie-Paris6, CNRS FRE2507, Paris, France

(2) Institut Universitaire Technologique de Cachan,

University Paris Sud, Cachan, France

Email:[email protected]

Abstract— riety of different concepts. Some of these structures form

In this paper, an original expandable mechanism for un- planar or space frames and have already had a variety of
folding wheels is proposed. This mechanism combines two applications [1] [2] : space applications for solar arrays,
elementary mechanisms. One allows the deployment of the solar sails, etc or architecture applications to support mem-
rim while the other one ensures the contact shape adapta- branes or films. The most impressive example of these de-
tion. In the first section, we analyse the different deploy- ployable structures, certainly within the field of architec-
ment mechanisms already proposed in the literature. Then, ture are retractable roofs. The paper describes a new type
the design of the rim expansion mechanism is described and of expandable wheel with 2 degrees of freedom (dof). This
two complementary versions are proposed. Last, based on system combines 2 elementary mechanism which allow the
terramechanics models, a contact surface adaptation mech- deployment of the rime and the modification of the rolling
anism is proposed. This system allows to adapt the wheel- tread geometry. To obtain the expandable mechanism, pla-
ground interaction properties and make the wheel ables to nar linkages with 1-dof have been designed and optimized
improve its traction and steering performance on soft soil. in their kinematics to obtain the desired expansion ratio for
Keywords:planetary rover, expandable mechanisms, design, wheel the former one and its rigidity under a radial load for the
other one. These planar units are then assembled to form
the desired wheel.
I. Introduction
Mars exploration programs that require surface mobility,
such as geology studies, search for past life or infrastruc-
ture deployment for future manned missions, make use of
wheeled rovers. The total mass of the rover and its volume
during launching phase are very constrained, thus resulting
in moderate ability to overcome obstacles due to the lim-
itations on wheel diameter. Meanwhile, the wheel size is
one (but not the only) important parameter that determines
the rover crossing performances. These limitations can be
reduced by introducing mobilities in the system for the
deployment of the locomotion mechanism from a stowed
configuration or/and using inflating or unfolding wheels
that can reach large diameters and thus present high cross-
country ability, still being compatible with the launching Fig. 1. Unfolding wheel with deployment mechanism
constraints. The adaptation of the contact surface geometry
of the wheels is another important feature which will al-
low to optimize traction and mobility performances of non- II. Deployable mechanisms
holonomic vehicles with respect to the physical character- Reversible foldable mechanisms are such that their struc-
istics of the ground. One of the purposes of the INTAS ture remains stress free throughout the deployment. They
Project, entitled ”Innovative Mars exploration rover using are capable of expanding from a closed, compact configu-
inflatable or unfolding wheels”, is to study mechanically ration to a pre-determined form while modifying their dy-
deployable wheels and compare them with classical rover namics. They can be classified as follow:
wheel design, given the same mission objectives and con- 1. structures with rigid bars connected to each other in
straints. various pantographic arrangements of 2-dimension and 3-
Many sorts of deployable structures exist, based on a va- dimension;
12th IFToMM World Congress, Besançon, June 18-21, 2007

2. structures with 2-dimension panels connected to form

various surface structures, basic element being a triangular
panel[3];
3. tension structures consisting of cables or membranes, or
combination of both, either pre-stressed or pneumatic[2];
4. deployable tensegrity structures composed of rigid rods
and cables[4], [5]; Fig. 3. Half-scissor closed-loop deployable mechanism
The two last ones combined are said active-form sys-
tems since they allow to create a structure that could au-
tonomously adapt its shape and mechanical behavior with
its environment. This idea will be reused for the design of
the ”casing of the tire” in the deployable wheels proposed
in this paper.
Several bar mechanisms have been invented to create re- Fig. 4. Expanding ”4-gon” and ”6-gon” based on Hoberman design
versible foldable structures along its external perimeter or
surface. Most of them are made of hinges and pivots and
adjacent scissors-pair intersect, a reversible folding of the
are able to move in a plane, along a cylinder or sphere.
structure take place without internal constraints in the struc-
A. Scissor hinge structures ture [1].
Emilio Pinero pioneered the use of scissor mechanisms
to make deployable structures. Scissor hinge structures are
built out of basic units composed of rod elements connected
in their center and with each other by hinges. The basic
unit (a Scissor-Like Element) is a pantograph. These units
can be assembled to form an opened or a closed loop sys-
tem with a single degree-of-freedom. Figure 2 consider dif-
ferent planar arrangements of parallel straight or angulated
rods.

Fig. 5. Configuration where the pivot points of all the scissor-pair lie on a
circle

Fig. 2. Multiple scissor-like elements with straight rods or angulated rods III. Wheel expansion mechanism design
One important index of an expandable wheel is the ex-
Space frames can be formed by closed loops of these el- pansion coefficient which is basically defined as the ratio
ements. Figure 3 shows an example of a mechanism which between the wheel diameter in expanded configuration and
was adopted in the edge beam of the Hoop-Column An- the one in compact form. The second point is the ability of
tenna [6] and built with half-scissor mechanisms. This the wheel to adapt both the tread geometry and its elastic
kind of structure must have an even number of equal-length mechanical properties and so the compliant behavior of the
hinged segments with a rotational joint at each extremity complete wheel. Thus, the mechanisms which had been de-
whose axis is orthogonal to the segment. Here, the joints sign for creating a deployable wheel can be decomposed in
of 2 consecutive segments are not collinear but form an an- 2 subsystems:
gle in the plane perpendicular to the symmetry axis of the - a mechanism for the radial expansion of the rim of the
structure. It can be checked that due to its particular geo- wheel,
metric properties, the mobility of this mechanism is equal - a mechanism for deformation of the contact surface ge-
to 1. ometry.
Hoberman has also created numbers of pantograph In this paper, a previous designed wheel is briefly pre-
mechanisms that operate in two and three dimensions. A sented and then a new mechanism is proposed which im-
”N -gon” as shown in figure 4 can expand out in a symmet- prove the total expansion coefficient. The second concept
ric manner by ”actuating” only one of its members [7]. was optimized through a parametric analysis of rod dimen-
When scissors-pairs are connected in closed-loop via an- sion parameters.
gulated elements in such way that the normal lines that are The expansion coefficient λ is the index that describe the
perpendicular to the axis of the joined terminal pivot of deployment capacity of the wheel. It is defined as the ra-
12th IFToMM World Congress, Besançon, June 18-21, 2007

tio of the characteristic length (here the wheel diameter D)

between the compact and the unfolding configuration :

λ = Dmax /Dmin

A. Preliminary concept
The first concept[8] was initially proposed in the aim
to have shape for the wheel similar to the one of the
Marshokod robot [9]. The expansion of the rim is based
on the use of a set of identical planar mechanisms disposed
radially which play the role of spokes. Each of these mech-
anism can be seen as a parallel mechanism whose limbs are
imbricated 4-bar mechanisms (see figure 6).

Fig. 8. Preliminary concept : folding/unfolding process.

this design the general shape of the wheel is constrained to

Fig. 6. Mechanism used for the expansion of the rim have a width larger than the radius because of the special
expansion kinematic. This characteristic can be inconve-
The inputs are the linear motions of points A1 and A2 nient for certain application. So, we propose a new design
which are coupled to the same linear actuator placed in which is very different in its kinematic design.
the hub of the wheel. When these ”spokes” are totally de-
ployed, the mechanism is in a stationary configuration. This B. New design
local singularity happens when the coupling bar is parallel
to the upper bar of the 4-bar mechanism. Therefore, the The second concept use an expansion mechanism which
mechanism becomes an immovable structure regardless of is actuated by a rotation of each lateral rim part. Each part
the input. Moreover, in this configuration the actuator does are composed of arc-shaped rods which are in contact in the
not work for any external force applied on the upper 4-bar compact form. In this concept, the expansion of the wheel is
mechanism. obtained by a motion of elementary rods constrained in the
sagittal plan whereas it was in a perpendicular plan for the
first concept. This property is interesting because the ratio
between the wheel width and diameter is not constrained,
and thus the global shape of the wheel can be freely chosen.
The expansion of the rim is based on a three-beam planar
mechanism. This mechanism shown in figure 9 is the ele-
mentary mesh that constitute one of two lateral parts of the
Fig. 7. Rim sector deployment system wheel.
To insure a very compact closed form, arc-shaped rod
The rim itself is a loop-assembly of rigid bars (a rim sec- have been used and optimized in shape as shown in figure 9.
tor) joining consecutive spokes, each rim sector being artic- The beam length ratio had been optimized to offer the most
ulated on a spoke by a universal joint. Fig.8 shows the de- compact configuration and the best distribution of forces
ployment of a rim sector with the deployment of the spokes. (rigidity). The main problem was to solve the collisions be-
The expansion coefficient of this first mechanism con- tween each parts of the mechanism that were the most im-
cept is about λ = 1.3. This system notably offers : a good portant constraints. We use a standard optimization method
expansion ratio, a strongly rigid mechanism with 4-bar par- of minimization problem under algebraic constraints. The
allel system and a stable unfolding situation by using a sin- minimised criteria was the inverse of expansion ratio 1/λ.
gular configuration of the mechanism. But, from the techni- The obtained solution was then partially modified in or-
cal point of view, this concept is complex in its fabrication. der to integrated other technological constraints such as the
This mechanism intensively makes use of small parts and it need of ball-bearing parts in articulations.
presents some difficulties for its assembly. Furthermore, in The wheel is then composed of two of these radial ex-
12th IFToMM World Congress, Besançon, June 18-21, 2007

the kinematic joint introduce kinematic closed-loop in the

mechanism. Thus, the global performance (traction, stabil-
ity,...) of a planetary rover evolving on natural soil can be
improved if the behavior of the wheels-ground contact can
be adapted to the variation of soil geometrical and physical
properties.
In the case of mechanically unfoldable wheel when it is
exposed to a vertical load and a traction force, the carcass
will deform. This deformation is mainly due to the flexible
rods that constitute the wheel tread. A precise estimation of
its deformation had been performed using a finite element
(a) (b) linear analysis (FEA) on an isolated radial element. This
Fig. 9. Kinematic schema of the radial expansion mechanism analysis had been made by using COSMOSWorks design
analysis software that is fully integrated to SolidWorks (see
figure 11).
pansion mechanisms arranged laterally. They are coupled
by a common actuation system and also connected together
with the tread parts. Figure 10 shows the whole mechanism
during its deployment motion.

Fig. 11. Elastic tread adaptation mechanisms

The final wheel will make use of elastic beam to consti-

tute a discretized tread around the wheel rim. We can notice
here that the wheel is composed of two lateral unfoldable
rim mechanisms. These two parts are connected together
by the tread elements. In order to analyse the adaptation
ability of the tread, we consider the wheel in the deployed
form where each lateral rim part can be simplified by a sim-
ple disc as show in figure 12.

Fig. 10. New concept : folding/unfolding process.

This second design is interesting as its expansion ratio

which is about λ = 1.8 is much more important. Further-
more, it offers the characteristic to be adapted to different
wheel shapes as the ratio between its width and its diameter
is not constrained kinematically. As the previous design,
it also use a singular configuration to stay in unfolded sit-
uation. Unfortunately, this concept will be less rigid than
the previous one. But, this characteristic can be integrated
in order to confer to the wheel a useful global compliant
Fig. 12. Elastic tread adaptation mechanisms with arc-shaped beam
behavior similar to the one of an inflated tire.

IV. Contact surface adaptation system In this section, we analyse the interaction parameters
The dynamic behavior of mobile robot during its motion based on Bekker model. Then we develop the mechanical
on outdoor terrain is strongly influenced by the nature of principle and the model used for the design of elastic tread
wheel-ground interactions. The wheel-ground contacts are elements.
12th IFToMM World Congress, Besançon, June 18-21, 2007

A. Terramechanics model So, it is very convenient to have a low rigidity in the com-
In quasi-static motion, the wheel-ground interaction pliant tread to improve the traction performance. Indeed,
forces could be described using the Bekker theory [10], the surface contact will be larger and the maximum wheel-
[11]. In this model, the resulting force between the wheel soil shear ratio will be higher.
and the soil depends on kinematic and geometrical parame- This analysis has shown that the modification of tread
ters which are the wheel slippage i and the soil compaction shape and tread rigidity is an interesting way to improve
z. the global wheel performance. A simple strategy consists
to choose a more rigid configuration for steering and a
Tread beams N more compliant one for traction. With on line adaptation
Wheel w and monitoring system embedded in a planetary rover, this
v wheel property could be very useful to improve the rover
equivalent
radius traversability.
DP R
B. Principle of the compliance adaptation mechanism
Schematically, the factors affecting the contact stiffness
T are the shape (and material) of the carcass-element and
z
its support (the deployment mechanism). To increase the
carcass deformation, an alternative design for the carcass-
Fig. 13. Wheel ground interaction forces element using an arched beam have been explored (see
Figure 12). A smooth deformation between a geometry
The contact force under each wheel expressed in the of the carcass corresponding to a well-inflated tire and
wheel sagittal plane and decomposed in normal and tangen- a poorly-inflated tire can be controlled by the contact-
tial force. The normal force N is due to vertical load and variation mechanism described above.
DP = T − R is the tangential force applied on the wheel
where T is thrust force, R is the rolling resistance. We use
classical Bekker’s equations for rigid wheel to express the
rolling resistance[10]:
z n+1
 
R = b (kc /b + kφ )
n+1
where b is the wheel width, z is the wheel-ground sinkage
and (kc , kφ , n) are soil parameters.
The wheel-ground sinkage z depends on the pressure ex-
erted on the soil and its compaction parameters. This pres-
sure is function of the normal load applied on the wheel
and its pressure for an inflated tire. In our case, the com-
pliant behavior of the tread can then be used to compensate
this rolling resistant effect. Notably, this effect is important
when the wheel is steering.
The traction force exerted by the wheel on the soil in-
volve a shear stress state that can not exceed the maxi- Fig. 14. Elastic deformation of a arc-shaped beam
mum Mohr-Coulomb shear stress (τmax = c + σn tan φ).
This value depend on the soil cohesion c, the normal pres- In this configuration, the beam shape is controlled by
sure σn and the friction angle φ. The shear state at any changing the position of joint B as shown in figure 14.
contact point is obtained with the Janosi equation : τ = Changing the shape of the beam affect its initial pre-stress
τmax (1 − exp(−j/K)) where j is the wheel-soil relative state. Thus, the relation between vertical load and vertical
displacement and K is the soil shear coefficient. deformation in the center of the beam is modified.
Then, the total traction force is obtained by integrating Finite element analysis shows for linear elastic material
the Janosi’s equation along the wheel ground contact sur- that the compliant behavior of such a single beam is also
face : linear (it is a relation similar to the elastic spring) :
 K −il

T = (A c + N tan φ) 1 − 1 − exp( ) 1
il K dy = P
k
where i is the slippage ratio; A is the wheel-soil contact
area and l the contact length. where k is the compliance constant of the beam. This pa-
 12th IFToMM World Congress, Besançon, June 18-21, 2007

rameter is a function of the initial pre-stress state : [5] M. Arsenault and C. Gosselin. Kinematic and static analysis of a
planar modular 2-dof tensegrity mechanism. In Proceedings of the
k = f (dx) 2006 IEEE International Conference on Robotics and Automation,
pages 4193–4198, Orlando, Florida, May 2006.
The FEA computation has shown that this relation is al- [6] W.W. Gan and S. Pellegrino. Closed-loop deployable structures. In
44th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics,
most linear and linearity coefficient depends only on mate- and Materials Conference, April 2003.
rial chosen and the beam section geometry. [7] M. H. Yim S. K. Agrawal, S. Kumar and J.W. Suh. Polyhedral sin-
gle degree of freedom expanding structures. In IEEE International
V. Conclusion and future work Conference on Robotics and Automation (ICRA 2001), May 2001.
[8] Ph. Bidaud, F. BenAmar, and S. Poirier. An expandable mechanism
This paper has presented an original mechanism de- for deployment and contact surface adaptation of rover wheels. In
Proceedings of the 2006 Clawar Conference, Spain, Sept 2005.
signed for creating a deployable wheel with a contact shape [9] A. Kermurdjian, V. Gromov, V. Mishkinyuk, V. Kucherenko, and
adaptation. As far as we know, this is the first time an un- P. Sologub. Small marsokhod configuration. In Proceedings of the
folding wheel integrating a rolling tread adaptation mecha- 1992 IEEE International Conference on Robotics and Automation,
May 1992.
nism is proposed. [10] M.G. Bekker. Introduction to terrain-vehicle systems. The Univer-
In future work, experiments will be done to characterize sity of Michigan Press, 1969.
the global behavior of the wheel from the terra-mechanics [11] J.Y. Wong. Theory of ground vehicles. Wiley-Interscience (3rd edi-
tion, 2001), 1978.
point of view. We will evaluate the influence of the pre-
stress state in the tread elements on the global traction per-
formance and the rolling resistance. In-lab facilities will be
used to conduct experiments on the wheel shown in figure
15.

Fig. 15. First prototype

We use glass-fiber composite to constitute each tread

beam as shown on the prototype in figure 15. The amount
of change in carcass shape remains important when using
glass-fiber composite materials. Its deformation under a
vertical load and its dynamical properties are much more
closer to a classical inflated tire.

Acknowledgments
This research is supported by the International Associa-
tion for the Promotion of Co-operation with Scientists from
the New Independent States (NIS) of the Former Soviet
Union (INTAS) under grant number 4063.

References
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[3] S.D. Guest, F. Kovcs, T. Tarnai, and P.W. Fowler. Construction of a
mechanical model for the expansion of a virus. In Proc. IASS-2004,
Sept 2004.
[4] A. G. Tibert and S. Pellegrino. Deployable tensegrity reflectors for
small satellites. Journal of Spacecraft and Rockets, 39(5):701–709,
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