Design and Performance Analysis of Deformable McNamum Wheel Mechanism

To address the high energy consumption and poor terrain adaptability of traditional Mecanum wheels, this paper adopts the design of deformable Mecanum wheels and discusses the flexible switching principle between 0° and 45° angles of hub shaft and roller shaft. Kinematic modeling and performance analysis are carried out accordingly. The results show that the wheel achieves flexible omnidirectional movement at 45°, suitable for narrow passages. At 0°, it features low energy consumption and high running speed, adapting to complex terrains. Verified by Adams simulation and physical experiments, the design improves operating efficiency and reduces energy loss, broadening the application prospect of Mecanum wheels in complex working conditions.