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Machine which perform its task alone without human's control like unmanned probe or probing robots with military purpose has used a four-wheels-device, but there are many limitations to this device. In case that movement of wheels is restricted by rugged path, link disk connecting shaft powered by moter shaft rotates, so joint which connect it with the second link rotates at the same time. This link converts rotational motion into linear motion and the fist link connected to the second link has spreading wheels spread by using provided power. With using this spreading wheels, it is able to resolve immovable state of unmanned four-wheels-devic
Kyungpook National University
Daegu metropolitan city, South Korea