Empirical optimization of an angled spoke paddling wheel with self-rotating mechanism.

The development of the maritime industry has led to a corresponding increase in maritime accidents. Maritime accidents are major events that are costly to recover and can cause casualties. Moreover, individuals who are brought to the scene for recovery or rescue are at risk.

Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing.

This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed.