Appendix - Part D

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Appendix

5. The wheels - (workable versions)

        Let us now turn to the actual possibilities. The general principle allowing a functionally correct solution was discussed in section 4. The transformation of that principle into a structural design was likewise indicated there (Fig. 10). For a better understanding we will add here a description of the basic concept of the support and drive mechanism of the barrel-shaped segments. The weight of the vehicle is transferred from the spokes to these segments through supporting wheels which are arranged in pairs at the ends of the spokes as shown in Fig. 18. The surface of the supporting wheels must be spherical because of the relative motions, and they are driven individually or in pairs to achieve a rolling motion of the entire wheel perpendicular to its main plane. That drive, for which there are several known options available, is not shown in Fig. 18. The torque is transmitted from supporting wheel to segment by a minimum of two grooves engaging two short pins which are attached to the segments.  [p.156]

Figure 18 Support principle of the wheel segments

        The barrel-shaped segments can either be rigid or elastic; a wide range of choices is available for design and material selection.

        A typical feature of the solution just described is the gaps interrupting the rolling surface at every spoke. It should be born in mind, however, that these wheels are used exclusively for slow movement so that such interruptions are very probably felt less than the unevenness of the ground on which the wheel rolls. It is nonetheless interesting to check whether there are feasible solutions providing a continuous rolling surface. A solution is shown in Fig. 19. Its main feature is the support of the tire R by two disks S. The outer rim surfaces of these disks have oblique grooves in which the "eyes" of the tire can slide. When both disks are driven synchronically by the gears mounted on the axle, the wheel turns in the usual direction; any difference in their speed of revolution causes the tire to rotate in the direction of arrow 2 of Fig. 9 and thus produces a controllable motion of the wheel perpendicular to its main plane. The difficulty of this solution lies in the material selection and the internal composition of the tire; it is caused by the difference between inner and outer circumferences of the tire to which an imaginary fiber must adapt during its travel along the periphery of the tire cross section. In conclusion, it should be pointed out that the wheels described here represent only basic layouts without any refinement through actual design work. Moreover, it is quite possible that additional concepts can be developed. I believe, however, that these two examples give a positive answer to the question of the feasibility of the wheel. It should be noted too that in both solutions multiple simultaneous movements can be observed on the wheel. An observer would see, apart from the familiar rolling motion, the rotation of the tire segments in one case, and in addition to the tire rotation the turning of the disks in the other. It does not seem unreasonable, therefore, to choose the description "wheel. . . within another" for such a device, and to call it "'galgal' (wheel work)" (Chapter 10, Verse 13).  [p.158]

Figure 19. Design principle of a wheel with continuous tire

B. Analysis