Design and Performance Analysis of Deformable McNamum Wheel Mechanism

To overcome the shortcomings of traditional Mecanum wheels, such as high energy consumption and difficulty in adapting to rough terrains, this paper designs a deformable Mecanum wheel. The principle of flexible switching between 0°and 45°angles of the hub shaft and roller shaft is expounded, and kinematic modeling and performance analysis are conducted. The results show that in the 45°state, it has omnidirectional movement and high flexibility, suitable for narrow channels; in the 0°state, it has low energy consumption and can travel at high speed, suitable for complex terrains. The