Abstract: To overcome the shortcomings of traditional Mecanum wheels, such as high energy consumption and difficulty in adapting to rough terrains, this paper designs a deformable Mecanum wheel. The principle of flexible switching between 0°and 45°angles of the hub shaft and roller shaft is expounded, and kinematic modeling and performance analysis are conducted. The results show that in the 45°state, it has omnidirectional movement and high flexibility, suitable for narrow channels; in the 0°state, it has low energy consumption and can travel at high speed, suitable for complex terrains. The