الفهرس 
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Abstract
The wheg-driven robots are kind of robots that use rimless wheels to have the
advantages of both wheels “fast constant speed” and legs “ability to overcome obstacle
with non-uniform shapes”. The wheg-driven robots are useful in many fields such as security,
exploration, surveillance… etc.. The whegs robots have the disadvantage of the vertical alternation
of the robot’s body in the direction perpendicular to the direction of motion due to rimless wheel.
Based on the mechatronics design methodology, a new approach for a wheg-module driven robot is
introduced. The wheg module with electromagnetic spokes is a wheg appendage with actively
controlled spokes, to enhance the wheg performance by decreasing the vibration of the robot during
motion over smooth terrains (alternation in the direction perpendicular to the direction of
motion), increasing its ability to overcome obstacles without the need to change the design. The
wheg was studied using mathematical model. Simulations using the multi-body simulation tool
ADAMS View® were done to help improving the concept. Based on the
results from the mathematical model and simulations, a prototype for the wheg module with
electromagnetic spokes was manufactured, and experiments were done to evaluate the concept.
Through the thesis a complete mathematical model for the wheg-module kinematics is introduced to
help in the future studies for making the robot applicable to be used as a transportation tool.
The simulations show the effect of the different parameters on the vertical alternation of a
single wheg-module and a half robot model.
Keywords:
Whegs, bio-inspired robotics, locomotion, rimless wheels, leg-wheel robot, tunable springs in
robots.