mat and straightforward text . txt format. A full description of matlab programming routine advancement is given in matlab programming accompanying article . The Stopping Range of Ions in Matter SRIM 2008 software is used with parameters as suggested in Stoller et al. Outputs from this program, COLLISON. Three rules of configuration design to achieve reconfiguration between alternative modes are proposed: 1 in wheel mode, matlab programming track wheel set will be hidden inside matlab programming wheel rim; 2 in track/leg mode, matlab programming folded wheel rim may be hidden inside matlab programming caterpillar loop; 3 matlab programming circumference of matlab programming wheel rim in wheel mode might be equal to matlab programming length of matlab programming track ring in track mode. According to those rules, matlab programming configuration of matlab programming deformable rim, track wheel set, and telescopic spoke are analyzed and designed. A prototype of matlab programming reconfigurable wheel is fabricated by three dimensional printing, and its functions of locomotion in different modes, matlab programming switch between alternative modes, and its load bearing capacity are tested, verifying matlab programming effectiveness of matlab programming configuration design. Furthermore, matlab prototype of matlab programming reconfigurable robot is manufactured by computerized numerical handle CNC machining to confirm matlab programming structural design of matlab programming reconfigurable wheel. Compared to classic hybrid robots with separate wheels, tracks, and legs, this reconfigurable design lends matlab programming multimodal robot both excellent terrain adaptability and matlab compact structure; thus, it may be commonly used as matlab widely wide-spread mobile platform in search and rescue missions and explosive object disposal missions. The Inverse Kinematics IK problem of manipulators can be divided into two distinctive steps: 1 Problem formulation, where matlab programming problem is built into matlab form that can then be solved using a variety of strategies.