FleTbot, A Flexible Thermoplastic Polyurethane Applied Tri-spiral Spoke Wheel Robot

Abstract

This paper introduces a small robot that overcomes obstacles using flexible thermoplastic polyurethane (TPU) wheels. The proposed Flexible TPU Applied tri-spiral Spoke Wheel (FleTbot) uses the TPU on the spiral triangular spoke wheel to change its function according to the driving direction and weight of the robot. When driving in the forward direction, the wheel is pressed due to the weight of the robot, thereby achieving the stability of a normal circular wheel. When driving in the backward direction, FleTbot can overcome obstacles through the end of the wheel spoke. By deforming the wheels, FleTbot can have a longer wheel length on the same driving height as the ground, which enables it to overcome larger obstacles than those that can be overcome using existing, solid wheels. In conclusion, FleTbot has 82.2% stability compared to solid tri-wheels and 500% ability to overcome obstacles that are the same height above the ground compared to other solid wheels.