Wheel Motion: Theory and Design deals with the theory of wheel motion under gravity. Movement evolves either from an initial dynamic state or from an unbalanced component of wheel weight. This book contains original theory based on research related to space exploration robot wheels. It presents elasticity principles required for rim displacements and provides information on the analysis of discoidal wheel motion. It includes discussion of a rigid spherical wheel that is in point contact with a rigid terrain and also features a chapter on ice mechanics. This text serves as an ideal source for mechanical engineers, aerospace engineers, civil engineers, robotics engineers, and automotive engineers.