Wheel – HTR

Introduction

HTR came up with an innovative wheel. This wheel can adapt and improve traction both on soft and hard terrain. It consists of a central hub that holds leaf spring elements, playing the role of the flexible element of wheel. The outer part of the wheel, the periphery, is made up of caterpillar track segments that adapt to the soil profile. A special mechanism inside the hub preloads the leaf springs. This allows the motorized adaptation to actively modify the stiffness of the wheel to the encountered terrain conditions, e.g. to minimize the energy needed for locomotion or to maximize the drawbar pull, i.e. the net tractive force produced. This is also possible passively to a lesser extent.

Advantages

HTR has developed and patented its metallic wheels in the context of a GSTP ESA project. The wheels are elastic with an operational temperature range of +180oC to -130oC and the capacity to modify their stiffness (inflate and deflate), adapting to load and terrain conditions. HTR has tested the wheels on GRC-1 with ASTROBOTIC INC USA. The wheels outperform the NASA Shape Memory Alloys wheels by almost 100% under the same test conditions. Also, the wheels have been tested in vibration and TVAC and passed with success. HTR has performed wear tests of 1000km on regolithic sand and stones with no sign of significant wear on the wheels.

Below you may find various diagrams and information relating to the tests performed and the capabilites of the system.

Useful links for papers and studies that include the system:

Interested in buying a wheel? Our newly uploaded product page can be found on Robotshop here. You can also download the manual for our moon wheel! For any inquires regarding this please send them at sales@htr.gr