Abstract: A steerable drive wheel assembly includes two independently motor-driven wheels. The wheels are supported in side-by-side orientation for independent rotation about a common horizontal rolling axis, and equally laterally offset from said vertical steering axis. The wheels and their respective drive motors are carried in a drive module that is mounted like a turret under an intermediate suspension module via a rotary bearing. The intermediate suspension module is mounted on linear bearing assemblies within an outer housing. Biasing members urge the intermediate suspension module together with its drive module downwardly to maintain traction with a floor. A compact configuration is achieved by overlapping the drive motors with the opposite wheels. Position control is achieved by a strategic sensor array. Electrical wire management is achieved by a serpentine energy chain located in the plane of the rotary bearing.

Abstract: A steerable drive wheel assembly includes two independently motor-driven wheels. The wheels are supported in side-by-side orientation for independent rotation about a common horizontal rolling axis, and equally laterally offset from said vertical steering axis. The wheels and their respective drive motors are carried in a drive module that is mounted like a turret under an intermediate suspension module via a rotary bearing. The intermediate suspension module is mounted on linear bearing assemblies within an outer housing. Biasing members urge the intermediate suspension module together with its drive module downwardly to maintain traction with a floor. A compact configuration is achieved by overlapping the drive motors with the opposite wheels. Position control is achieved by a strategic sensor array. Electrical wire management is achieved by a serpentine energy chain located in the plane of the rotary bearing.