不同行进结构对各种复杂的非结构化路面条件具有不同的适应性和通过性．文中结合轮式、履带式运动机构的优点，提出一种可以根据路面条件改变车辆行进模式的新型轮履复合式变形车轮．变形车轮由变径轮辋部件和履带轮部件组成．在同一驱动机构作用下，变形车轮能以轮式或履带式两种运动模式在复杂的路面上运动，使车辆具有良好的地面适应性和通过性．变形车轮采用模块化设计，可以代替普通充气式轮胎直接安装在车辆上．对变形车轮两种运动模式的分析表明: 变径比越大，与轮式模式相比，履带模式的爬坡性能和翻越台阶性能优势越明显．

Different travelling mechanisms have different adaptability and passability in complex and unpredictableground environments.In this paper,by considering the advantages of wheel and track,a new wheel-track transformablewheel,which consists of a diameter-varying wheel rim as well as some track parts and changes its travellingmode according to the ground environment,is proposed.According to the ground environment,the transformablewheel can pass complex terrains either in wheel mode or in track mode without changing the driving mechanism,so that it is of excellent adaptability and passability.Moreover,it is designed in a modular mode and can bedirectly installed in vehicles,just like common inflatable tires.Analysis results of two locomotion modes show that,with the increase of the diameter-varying ratio,the track mode may result in stronger climbing ability and obstacleclimbingcapability than the wheel mode.