设计一种将球形机器人与轮式机器人运动特点相结合的可变形移动机器人。该移动机器人可以适应多种复杂的地形环境，自身几何形状发生变化以实现球形和轮式机器人互换。球—轮复合型移动机器人的机构系统由可变形球壳、球体推进装置和轮式驱动装置组成。通过对可变形球壳的拉伸和收缩实现球形和轮式机器人之间的角色交换。运用理论推导和参数优化等方法对球—轮复合型移动机器人中的变形球壳、车轮、和驱动重摆的结构尺寸进行分析，并通过仿真试验验证了机构尺寸参数选择的合理性，为该复合型移动机器人的机构设计提供了理论依据。最后通过实物试验验证，证实了该移动机器人实现的可行性。

A transformable mobile robot with the characteristics of the combination of spherical robot and wheeled robot is designed. The mobile robot can adapt to a variety of complex terrain environment, and its geometry change achieves the exchange between the spherical robot and the wheel robot. The spherical-wheel mobile robot is composed of the deformable spherical shell, the propulsion system for sphere and wheeled mobile unit module. It can realize the exchange of the roles by changing spherical shell’s shape. Theoretical analyses and parameter optimization methods are used to analysis structure parameters of the transformable shell, wheels and driven pendulum. And the simulations based on the structure parameters prove the rationality of the robot design, which provides a theoretical basis for mechanical design of this mobile robot. The experiment confirms the feasibility of this mobile robot.