Research on the Design and Experiment for Obstacle‐Crossing Capability of a Wheeled‐Claw Deformable Mobile Platform With Large Expansion Ratio

ABSTRACT

To enhance adaptability and obstacle‐crossing performance in unstructured environments, this study proposes a large‐expansion‐ratio deformable mobile platform, referred to as the “Wheel–Claw Climber,” which is based on spatial folding and linkage deformation mechanisms. The platform incorporates a radially expandable deformable wheel with a maximum expansion ratio of 2.72, substantially exceeding the existing benchmark of 2.4. The “Wheel–Claw Climber” operates in three distinct configurations—wheel, claw, and intermediate—enabling adaptation to diverse terrains. An obstacle‐crossing model is established, and the maximum obstacle‐crossing height is determined to be 4.5 R , representing a 27.7% improvement over current designs and demonstrating superior obstacle‐surmounting capability. Furthermore, a cross‐slope traversal strategy is proposed, whereby deformation and expansion of the low‐side wheel relative to the high‐side wheel increase passability and stability by 31.1% and 21.65%, respectively, on the same slope. Experimental validation confirms that the Wheel–Claw Climber can seamlessly transition between wheel and claw modes. At a wheel rotation speed of 1 rad/s, the platform achieves a maximum obstacle‐crossing height of 550 mm, with a 100% success rate for obstacles below 450 mm. Overall, the deformable wheel architecture and experimental findings provide new insights for the design and development of next‐generation mobile platforms.