Structure synthesis & configuration transformation of variable topology repeated foldable wheel

According to its motion input and output characteristics of the repeated foldable wheel, a set of systematic design method is put forward. Based on the motion characteristics and functions of the repeated foldable wheel, its three modules is named. The folding-unfolding wheel module is synthesized on configuration synthesis method, design concept of the wheel, mechanism superposition and graph theory. By using structure transformation and configuration analysis, radial unfolding module, rotating module and unfolding locked module are design, and the variable topology repeated foldable wheel is presented with the characteristics of real-time adjusting radial size according to different terrain, and then its motion smoothness and stability is verified by virtual prototype simulation.