Abstract: A drive system comprises a support structure for a guideway defining an X-Y array of tracks (22, 24) so that one or more carriages (10) can run along the tracks to any desired position. The carriages are intended to either carry a single robotic device or work together to carry a larger robotic device. The track is made up of an array of pegs (14) supported from a ceiling plane made up of an array of tiles (8) which provide for electrical connections to the carriages. Each peg carries a spool mounted between two horizontal flanges that cooperates with a rectangular sprocket connected to a base of a cuboid carriage housing. The carriages are driven by internal electric motors that are arranged to drive two pairs of omniwheels (90) on the ceiling plane while the carriage is supported and guided by means of its sprocket.

Abstract: A drive system comprises a support structure for a guideway defining an X-Y array of tracks (22, 24) so that one or more carriages (10) can run along the tracks to any desired position. The carriages are intended to either carry a single robotic device or work together to carry a larger robotic device. The track is made up of an array of pegs (14) supported from a ceiling plane made up of an array of tiles (8) which provide for electrical connections to the carriages. Each peg carries a spool mounted between two horizontal flanges that cooperates with a rectangular sprocket connected to a base of a cuboid carriage housing. The carriages are driven by internal electric motors that are arranged to drive two pairs of omniwheels (90) on the ceiling plane while the carriage is supported and guided by means of its sprocket.