Table 3 The relationship between the input variables of the reconfigurable wheel and the size of the staircase steps to be overcome.
From: RWD-DOF: a dual-degree-of-freedom reconfigurable wheel design for improved robotic mobility
Input Variable | 283\(\times\)100(mm) | 283\(\times\)120(mm) | 283\(\times\)130(mm) | 283\(\times\)140(mm) | 283\(\times\)150(mm) | 283\(\times\)160(mm) | 300\(\times\)100(mm) | 320\(\times\)100(mm) |
|---|---|---|---|---|---|---|---|---|
\(q_1\)(rad) | 0.21 | 0.39 | 0.68 | 0.77 | 1.01 | 1.18 | 0.84 | 1.58 |
\(q_2\)(rad) | 1.70 | 2.10 | 2.45 | 2.63 | 2.94 | 3.18 | 2.24 | 2.89 |
