Rwheel

rwheel is a modular wheel concept used in robotics and vehicle prototypes to provide adaptable wheel geometry and control. The term is applied in both mechanical and software contexts, and there is no single standardized definition.

Hardware design for rwheel typically centers on a hub with adjustable mounting points, interchangeable rims or tires, and interfaces for motors and sensors. The goal is to allow quick changes to wheel diameter, track width, or tire type to match different terrains or experimental needs. Many implementations emphasize tool-free assembly and robust mounting to maintain alignment during configuration changes.

Software and control approaches linked to rwheel offer a unified way to manage different wheel configurations. This can include a software layer that exposes APIs for motor commands, encoder-based odometry, and the storage of wheel geometry parameters. By separating configuration from control logic, rwheel aims to simplify testing of traction, slip, and control algorithms across multiple wheel setups.

Variants of rwheel may refer to a mechanical concept (reconfigurable wheel hardware) or to a software framework (simulation and control interfaces for multiple wheel configurations). Some projects combine both aspects, providing hardware modules with accompanying software libraries and configuration tools.

Applications for rwheel-focused systems include mobile robotics, research platforms, education kits, and development testbeds where researchers need to compare performance across different wheel geometries and control strategies. See also wheel, modular robotics, odometry, and reconfigurable hardware.