Design Philosophy
The design methodology which guided the development of the Galileo Wheel was based on 5 key principles:
1. Scalability – Fit multiple applications, from toys all the way to heavy trucks
2. Versatility – Overcome all feasible mobile challenges relevant to weight and size
3. Durability – Unique belt technology allows for maximum stretch with no fatigue
4. Usability – Wheels are self contained units, easily installed and replaced
5. Affordability – Parts are injection molded, designed for mass production
Details follow:
Scalability: The design of the Galileo Wheel is such that it can be implemented in a variety of applications, each with varying requirements. Applications such as low cost toys, robust man portable military robots, dependable wheelchairs capable of carrying several hundred pounds, all the way to supporting a large construction or farming vehicle (still under research).
Versatility: The challenge of the rubber belt is that it must have the necessary grip in track mode to surpass tough obstacles and rough terrain, while maintaining a slick and continuous surface in wheel mode in order to provide for a smooth ride. The rubber track is actually made up of folds that when stretched the folds disappear and unveil the robust teeth that are essential for a good grip in soft surfaces such as sand, gravel, mud or snow. In wheel mode, these folds come together to provide that desired smooth surface. In addition, these unique folds also provide for a profound effect of flexibility and suspension when in wheel mode, very much like an inflated tire.
Durability: The belt’s unique design eliminates the extensive stretch forces from the rubber. While indeed the ratio between wheel and track can stretch to as much as 1:1.6, the rubber essentially remains unstretched as the elongation comes from straightening the folds.
Usability: For our home and service robot applications, the Galileo Wheel can be provided in a self contained unit packaging all necessary elements such as motors, power supply (batteries), drivers etc. The connection to the main body is done through a physical attachment and basic means of communication. The design enables robotic providers to focus their development on their unique robotic technologies with a “plug and play” module to the Galileo Wheel. In addition, the design also allows for quick on field replacement in the case of a malfunction
Affordability: Components are designed for mass production. Most parts are designed for injection molding
