Adjustable diameter wheel assembly, and methods and vehicles using same

A method of varying a rolling diameter of a powered wheel assembly for use with a ground-engaging vehicle, the method comprising:

• providing a wheel assembly attached to the vehicle, the wheel assembly comprising:
• a main shaft comprising an externally threaded portion;
• a first hub positioned for rotation about an axis of the main shaft;
• a second hub threadably engaged with the externally threaded portion of the main shaft;
• a plurality of first links each pivotally coupled to the first hub;
• and
• a plurality of second links each pivotally coupled to both the second hub and to one of the plurality of first links, wherein ground contact portions of either the plurality of first links or the plurality of second links define a rolling diameter of the wheel assembly;
• selectively preventing relative rotation between the main shaft and the vehicle;
• and
• rotating the first hub in a first direction, thereby causing the second hub to move along the threaded portion of the main shaft toward the first hub, thus repositioning the plurality of first links and the plurality of second links such that the ground contact portions move radially outward from the axis of the main shaft.

A powered wheel assembly operable to provide a selectable range of rolling diameters to a vehicle, the wheel assembly comprising:

• a main shaft comprising an externally threaded portion, wherein the main shaft is rotatable about an axle;
• a first hub positioned for rotation about an axis of the main shaft;
• a second hub threadably engaged with the externally threaded portion of the main shaft;
• a plurality of first links each pivotally coupled to the first hub;
• and
• a plurality of second links each pivotally coupled to both the second hub and to one of the plurality of first, wherein ground contact portions of either the plurality of first links or the plurality of second links define a rolling diameter of the wheel assembly.

A powered wheel assembly operable to provide a selectable range of rolling diameters to a vehicle, the wheel assembly comprising:

• a main shaft comprising an externally threaded portion;
• a first hub positioned for rotation about an axis of the main shaft;
• a sprocket coupled to the first hub;
• a second hub threadably engaged with the externally threaded portion of the main shaft;
• a plurality of first links each pivotally coupled to the first hub;
• and
• a plurality of second links each pivotally coupled to both the second hub and to one of the plurality of links, wherein ground contact portions of either the plurality of either the plurality of first links or the plurality of second links define a rolling diameter of the wheel assembly.

A powered wheel assembly operable to provide a selectable range of rolling diameters to a vehicle, the wheel assembly comprising:

• a main shaft comprising an externally threaded portion;
• a first hub positioned for rotation about an axis of the main shaft;
• a second hub threadably engaged with the externally threaded portion of the main shaft;
• a plurality of first links each pivotally coupled to the first hub;
• a plurality of second links each pivotally coupled to both the second hub and to one of the plurality of links, wherein ground contact portions of either the plurality of either the plurality of first links or the plurality of second links define a rolling diameter of the wheel assembly;
• and
• a support member spanning between at least two ground contact portions.

A robotic vehicle having an adjustable ground clearance, the vehicle comprising:

• a driving apparatus coupled to a body of the vehicle and operable to provide driving power to the vehicle;
• at least one wheel assembly coupled to the body of the vehicle, at least one wheel assembly comprising:
• a main shaft comprising an externally threaded portion;
• a first hub positioned for rotation about an axis of the main shaft;
• a second hub threadably engaged with the externally threaded portion of the main shaft;
• and
• at least one configurable wheel member coupled to both the first hub the second hub, the wheel member comprising an elastic membrane having ground contact portions that define a rolling diameter of at least one wheel assembly;
• and
• a locking apparatus coupled to the body of the vehicle and operable to lock the main shaft relative to the body of the vehicle.