This paper introduces the Passive Transformable Omni-Ball (PTOB), an advanced omnidirectional wheel engineered to enhance step-climbing performance, incorporate built-in actuators, diminish vibrations, and fortify structural integrity. By modifying the omni-ball's structure from two to three segments, we have achieved improved in-wheel actuation and a reduction in vibrational feedback. Additionally, we have implemented a sliding mechanism in the follower wheels to boost the wheel's step-climbing abilities. A prototype with a 127 mm diameter PTOB was constructed, which confirmed its functionality for omnidirectional movement and internal actuation. Compared to a traditional omni-wheel, the PTOB demonstrated a comparable level of vibration while offering superior capabilities. Extensive testing in varied settings showed that the PTOB can adeptly handle step obstacles up to 45 mm, equivalent to 35 $\%$ of the wheel's diameter, in both the forward and lateral directions. The PTOB showcased robust construction and proved to be versatile in navigating through environments with diverse obstacles.

翻译：本文提出了一种被动可变形全向球轮（PTOB），这是一种先进的全向轮，旨在提升越障性能、集成内置致动器、减少振动并增强结构完整性。通过将全向球轮的结构从两段式改为三段式，我们实现了更好的轮内致动效果并降低了振动反馈。此外，我们在从动轮中引入滑动机构，以增强轮子的越障能力。我们制造了一个直径为127毫米的PTOB原型，验证了其全向移动与内部致动的功能性。与传统全向轮相比，PTOB在振动水平相当的情况下展现出更优越的性能。在多种环境下的广泛测试表明，PTOB能够灵活处理高达45毫米的台阶障碍（相当于轮径的35%），涵盖前进和横向方向。PTOB展示了坚固的结构，并证明了其在穿越含有多样障碍物的环境中的多功能性。