MORPH 轮：一种嵌入机械行为逻辑的被动变量半径轮，用于输入响应转换
MORPH Wheel: A Passive Variable-Radius Wheel Embedding Mechanical Behavior Logic for Input-Responsive Transformation
AI总结：
MORPH轮通过机械编程实现被动变量半径调整，具备双向操作、高扭矩容量和精确传动比控制，适用于不确定环境中的机器人移动系统。
摘要：
本文介绍了一种名为MORPH的机械编程半径可变轮，这是一种完全被动的变量半径轮，嵌入了机械行为逻辑以实现扭矩响应转换。与传统的变量传动系统依赖执行器、传感器和主动控制不同，MORPH轮仅通过其几何形状和柔性结构实现被动适应。设计集成了扭矩响应耦合器和弹簧加载连接杆，以机械方式在输入扭矩下调整轮子半径，范围在80毫米到45毫米之间，无需任何电子组件。MORPH轮提供了三种以前从未同时实现的独特的功能：（1）通过对称耦合器实现双向操作，允许无限旋转；（2）在驱动模式中具有超过10 N的高扭矩容量，具有刚性功率传输；（3）由确定性运动学控制的精确且可重复的传动比控制。开发了一个全面的分析模型来描述轮子的机械行为逻辑，建立了在直接驱动和半径转换之间切换的阈值条件。实验验证确认，测量的扭矩-半径和力-位移特性在轮子重量为1.8-2.8kg范围内紧密遵循理论预测。在不同负载（0-25kg）、坡度和非结构化地形上的机器人级演示进一步验证了MORPH轮能够被动调整其半径，以提供最佳的传动比。MORPH轮展示了机械编程结构，将智能、上下文相关的行为直接嵌入其物理设计中。这种方法为被动变量传动和机械智能在不确定或受控限制的机器人移动系统中提供了一种新的范式。
英文摘要：
This paper introduces the Mechacnially prOgrammed Radius-adjustable PHysical (MORPH) wheel, a fully passive variable-radius wheel that embeds mechanical behavior logic for torque-responsive transformation. Unlike conventional variable transmission systems relying on actuators, sensors, and active control, the MORPH wheel achieves passive adaptation solely through its geometry and compliant structure. The design integrates a torque-response coupler and spring-loaded connecting struts to mechanically adjust the wheel radius between 80 mm and 45 mm in response to input torque, without any electrical components. The MORPH wheel provides three unique capabilities rarely achieved simultaneously in previous passive designs: (1) bidirectional operation with unlimited rotation through a symmetric coupler; (2) high torque capacity exceeding 10 N with rigid power transmission in drive mode; and (3) precise and repeatable transmission ratio control governed by deterministic kinematics. A comprehensive analytical model was developed to describe the wheel's mechanical behavior logic, establishing threshold conditions for mode switching between direct drive and radius transformation. Experimental validation confirmed that the measured torque-radius and force-displacement characteristics closely follow theoretical predictions across wheel weights of 1.8-2.8kg. Robot-level demonstrations on varying loads (0-25kg), slopes, and unstructured terrains further verified that the MORPH wheel passively adjusts its radius to provide optimal transmission ratio. The MORPH wheel exemplifies a mechanically programmed structure, embedding intelligent, context-dependent behavior directly into its physical design. This approach offers a new paradigm for passive variable transmission and mechanical intelligence in robotic mobility systems operating in unpredictable or control-limited environments.
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