초록 ▼

A reconfigurable mechanism for varying the footprint of a wheeled omnidirectional vehicle. The variable footprint mechanism consists of a pair of beams intersecting at a pivotal point in the middle. Two pairs of ball wheels at the diagonal positions of the vehicle chassis are mounted, respectively,

A reconfigurable mechanism for varying the footprint of a wheeled omnidirectional vehicle. The variable footprint mechanism consists of a pair of beams intersecting at a pivotal point in the middle. Two pairs of ball wheels at the diagonal positions of the vehicle chassis are mounted, respectively, on the two beams intersecting in the middle. The angle between the two beams varies actively so that the ratio of the wheel base to the tread may change. Independent servomotors driving the ball wheels allow the vehicle to move in an arbitrary direction from an arbitrary configuration as well as to change the angle between the two beams and thereby change the footprint. By controlling the beam angle, static stability may be augmented, the width of the vehicle may be reduced, and the effective transmission ratio relating the vehicle speed to individual actuator speeds may be varied in a continuous manner.

대표청구항 ▼

[ We claim:] [1.] A surface contacting wheel assembly, the assembly comprising:a support;a plurality of members coupled to the support and characterized by a configuration, each member moveable about a common axis fixed with respect to the support and substantially perpendicular to the surface;a plu

[ We claim:] [1.] A surface contacting wheel assembly, the assembly comprising:a support;a plurality of members coupled to the support and characterized by a configuration, each member moveable about a common axis fixed with respect to the support and substantially perpendicular to the surface;a plurality of wheels, each wheel coupled to one of the members, each wheel having a center of mass, each wheel having at least one point of contact with the surface, the points of contact of the plurality of wheels having a specified spatial relationship such that the specified spatial relationship is reconfigurable, before and during motion of the assembly; andat least one sensor for measuring a physical quantity characterizing at least one of the configuration of the members, the motion of the wheel assembly, and the forces acting upon the wheel assembly.