Analysis of the Impact of Legged-Wheels Asymmetry on the Ability to Locomotion Using Informational and Computational Engineering Tools

Lately, due to the progress in various technological fields, new solutions can be reached. One of the pending issues in modern robotic systems is its navigation through complex and dynamic terrains. Locomotion of mobile devices and robotic systems can be achieved through different approaches. The classical wheels are well suited for more idolized environments where the ground stays plain with no visible obstacles. In reality, industrial and other environments are more complex and have uneven terrains. This work tries to solve the issue by introducing a novel approach that can perfectly fit into the previously mentioned narrative. The idea behind the approach is to create a transformable wheel that will suit both even and uneven terrains. However, the main focus of the work is to understand how desynchrony of such transformable wheels has an impact on the overall functionality. The work presents the literature on common wheels used for obstacle passage and the methodology for modelling and refining the setup for the analysis. With the ready model, several simulations were attained with various results. The results were gained by changing the rear wheels’ position. In the first case, both rear wheels were set to be synchronized. However, for further investigation, one wheel was slightly turned to the left side with an angle equal to 3.46° (degrees). Each new analysis was carried out with a different value of rotation. The results showed that an increase in dissimilarity between wheels could influence the time passage and the stability of the structure.