Design and Simulation of a Reconfigurable Wheel Robot for Search and Rescue Operations

The conceptual design and simulation analysis of a four-wheel reconfigurable robotic plat form for Search and Rescue (SAR) operations in unstructured environments, has been presented in this research. Unlike other solutions that rely on fixed-radius or track-based systems, this design features an innovative wheel architecture that transitions between a conventional circular wheel and a five-spoke configuration. By selectively altering the geometry of the wheel, the robot can maximize maneuverability and ground clearance in real-time, thus enhancing its versatility across multiple terrains. System performance is verified through multibody simulations using MSC ADAMS. The results confirm that reconfigurable wheels can significantly expand the operational envelope of SAR robots without sacrificing design simplicity or energy efficiency.