Investigation of the dynamic behavior of a slider crank mechanism-based wheel-legged mobile robot Prashant Raturi, Shivansh Chaudhary, Santhakumar Mohan Robotica, 2025 This paper presents the design and dynamic analysis of a reconfigurable four-wheeled mobile robot, with front wheels capable of transforming from a conventional circular wheel into a five-spoke wheel-legged (wheg) configuration. The transformation is achieved through a reconfiguration mechanism integrating a slider-crank chain with a rack and pinion system. A comprehensive dynamic analysis of the mechanism is conducted to evaluate the torque requirements for actuation and to support the selection of a suitable off-the-shelf motor. The required actuation torque is primarily influenced by the normal contact (reaction) force between the wheel and the ground or terrain, which varies depending on surface or terrain conditions. This contact force is computed using system dynamics, and its variations are further analyzed through the robot’s dynamic response. Numerical simulations, supported by real-world field tests, validate the effectiveness of the proposed design in moderately uneven environments.
Design and Simulation of a Reconfigurable Wheel Robot for Search and Rescue Operations Shivansh Chaudhary, Prashant Raturi, Santhakumar Mohan Proceedings of 2025 2nd International Conference on Cognitive Robotics and Intelligent Systems Icc Robins 2025, 2025 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.
RECENT SCHOLAR PUBLICATIONS
Design and Development of a Dynamically Stable Wheeled Mobile P Raturi, Y Kumar, S Mohan Emerging Trends in Industrial Machines and Mechanisms: Select Proceedings of … , 2026 2026
Investigation of the dynamic behavior of a slider crank mechanism-based wheel-legged mobile robot P Raturi, S Chaudhary, S Mohan Robotica 43 (8), 2803-2832 , 2025 2025 Citations: 3
Design and Simulation of a Reconfigurable Wheel Robot for Search and Rescue Operations S Chaudhary, P Raturi, S Mohan 2025 Second International Conference on Cognitive Robotics and Intelligent … , 2025 2025
Design and Development of a Dynamically Stable Wheeled Mobile Robot P Raturi, Y Kumar, S Mohan International Conference on Industrial Problems on Machines and Mechanism … , 2024 2024
Numerical analysis of the return flow solar air heater (RF-SAH) with assimilation of V-type artificial roughness P Raturi, H Deolal, S Kimothi Energy and Built Environment 5 (2), 185-193 , 2024 2024 Citations: 23
Parabolic dish type solar cooking system with gravity based solar tracking system MP Raturi, MH Deolal, J Grover, A Kumar IOSR J. Mech. Civ. Eng 11, 34-36 , 2014 2014 Citations: 3
MOST CITED SCHOLAR PUBLICATIONS
Numerical analysis of the return flow solar air heater (RF-SAH) with assimilation of V-type artificial roughness P Raturi, H Deolal, S Kimothi Energy and Built Environment 5 (2), 185-193 , 2024 2024 Citations: 23
Investigation of the dynamic behavior of a slider crank mechanism-based wheel-legged mobile robot P Raturi, S Chaudhary, S Mohan Robotica 43 (8), 2803-2832 , 2025 2025 Citations: 3
Parabolic dish type solar cooking system with gravity based solar tracking system MP Raturi, MH Deolal, J Grover, A Kumar IOSR J. Mech. Civ. Eng 11, 34-36 , 2014 2014 Citations: 3
Design and Development of a Dynamically Stable Wheeled Mobile P Raturi, Y Kumar, S Mohan Emerging Trends in Industrial Machines and Mechanisms: Select Proceedings of … , 2026 2026
Design and Simulation of a Reconfigurable Wheel Robot for Search and Rescue Operations S Chaudhary, P Raturi, S Mohan 2025 Second International Conference on Cognitive Robotics and Intelligent … , 2025 2025
Design and Development of a Dynamically Stable Wheeled Mobile Robot P Raturi, Y Kumar, S Mohan International Conference on Industrial Problems on Machines and Mechanism … , 2024 2024
