Data and simulation model files for: Variable-stiffness morphing wheel inspired by the surface tension of a liquid drop

Wheels have been commonly used for locomotion in mobile robots and transportation systems due to their simple structure and energy efficiency. However, the performance of wheels in overcoming obstacles is limited compared to their advantages in driving on normal flat ground. Here, we present a variable stiffness wheel inspired by the surface tension of a liquid drop. In a liquid drop, as the cohesive force of the outermost liquid molecules increases, the net force pulling the liquid molecules inward also increases. This leads to high surface tension, resulting in the liquid droplet reverting to a circular shape from its distorted shape induced by gravitational forces. Similarly, the shape and stiffness of the wheel can be controlled by changing the traction force at the outermost smart chain block. As the tension of the wire spokes connected to each chain block increases, the wheel characteristics reflect those of a general circular-rigid wheel, which has an advantage in high-speed loco..., This dataset is the raw data gathered from the experiment using the stiffness-variable morphing wheel in the article titled \"Variable-stiffness morphing wheel inspired by the surface tension of a liquid drop\". For measurements of wheel modulus, the two load cells (CSBA-50L, CAS Ins.) at the hub structure and one load cell (CSBA-50L, CAS Ins.) at the indenter were used in the experiment. A laser displacement sensor (ODSL 96B M, Leuze) was used to measure the positions of the indenter and hub structure. The data was collected with the NI DAQ module (cDAQ-9172, NI-9215, National Instrument) and LabVIEW software. Computer-aided design (CAD) files provide detailed shapes and dimensions of the major components of the morphing wheel and mobile platform that were used to generate this dataset. The simulation model files were developed to simulate the deformation characteristics of the morphing wheel both on a flat surface and while overcoming obstacles, focusing on changes in its modulus., , # Data and simulation model files for: Variable-stiffness morphing wheel inspired by the surface tension of a liquid drop

[https://doi.org/10.5061/dryad.kwh70rzd7](https://doi.org/10.5061/dryad.kwh70rzd7)

## Overview

This dataset contains the data, CAD, and simulation model generated from the experiments using the variable-stiffness morphing wheel. The presented dataset is necessary for generating figures and results for the paper titled 'Variable-stiffness morphing wheel inspired by the surface tension of a liquid drop'.

## Data from the figures

The measured data necessary to reproduce the figures in the paper titled 'Variable-stiffness morphing wheel inspired by the surface tension of a liquid drop'.

## CAD

The shape and size information of the components and platform used in the paper

* Smart chain structure: The size and detailed shape of the smart chain structure, which consists of the outer structure of the stiffness-variable morphing wheel.
* Stiffness-variable module in ...