Abstract: A robotic device for inspecting a pipe includes at least one pair of propulsion elements each including a rotary drum, an outer surface of which has a screw thread. The device also includes a body associated with at least one pair of propulsion elements and in which are inserted sensor, at least one pair of electric motors each capable of rotating a rotary drum, and at least one pair of electric power sources each capable of powering an electric motor. The body is shaped such that a ventral portion and a dorsal portion of the device are symmetrical with one another relative to a median frontal plane of the device, thus allowing the device to move indistinctly on the belly or on the back.

Abstract: A width variable structure using mecanum wheels is provided, which includes a plurality of mecanum wheels, a plurality of links connecting the mecanum wheels, and motors mounted on the mecanum wheels to transfer driving forces to the links, respectively. Since the width of the structure in the horizontal and vertical directions can be adjusted using the driving forces of the mecanum wheels, components such as actuators are omitted in the overall assembly.

Abstract: A transport device includes a support base, at least two spiral drives, at least one drive device, a control device and a power source. Each one of the at least two spiral drives are preferably driven by a single drive device. However, a single drive device could drive the at least two spiral drives through some type of drive system. The at least two spiral drives are rotatably retained on the support base. The at least two spiral drives are rotated through any suitable drive system. The power source supplies power to the at least one drive device through the control device. The control device controls the rotation and the amount of power sent to the at least one drive device. An object to be transported is placed on the support base. However, multiple transport devices may be attached to multiple sides of the object.

Abstract: A method of actuating a robotic mechanism having a first leg member rotatably coupled to a first side of a chassis and a second leg member rotatably coupled to a second side of the chassis. The method comprises positioning the first leg member and the second leg member generally about 180 degrees with respect to each other and effecting movement of the chassis by rotating both the first leg member and the second leg member with respect to the chassis.

Abstract: A spherical drive system for a vehicle providing movement in multiple directions. The spherical drive system can be maneuvered either by a system of driven omnidirectional wheels or by an electromagnetic field. One embodiment includes two pairs of omnidirectional drive wheels working in complement to each other providing multi-directional movement by way of electronic motors which are wired to a controller. A spherical tire will reside within the shell and will be in direct contact with the omnidirectional drive and stabilizer wheels. The spherical tire will work in tandem with the omnidirectional drive and stabilizer wheels moving the vehicle in the appropriate direction. Another embodiment is driven by an electromagnetic field created with magnets placed inside the spherical wheel and electromagnets placed on an outer shell. The electromagnetic field will drive the spherical wheel moving the vehicle in the appropriate direction.

Abstract: The present invention is an omni traction wheel system, which adopts an integrated differential mechanism to generate longitudinal and lateral traction forces. The omni traction wheel system may include a rotary device that delivers two individually controllable rotational forces, the differential output of which may drive a plurality of peripheral wheels to rotate laterally, and the common output of which may drive a pair of longitudinal plates to rotate longitudinally. Accordingly, the omni traction wheel system may travel in all directions.

Abstract: Disclosed herein is a bidirectional moving micro-robot system. The bidirectional moving micro-robot system has a first body having a plurality of legs foldably/unfoldably connected thereto, a second body having a plurality of legs foldably/unfoldably connected thereto and a connection member having both end portions respectively connected to the first and second bodies. In the bidirectional moving micro-robot system, the length of the connection member exposed between the first and second bodies is extended or contracted.

Abstract: An omni-directional wheel includes a hub rotatable about a wheel axis and a first row of angled rollers about the hub each rotatably supported by the hub. There is at least a second row of angled rollers about the hub each also rotatably supported by the hub. The rollers of the second row are axially offset along the wheel axis from the first row, and rotationally offset from the first row about the wheel axis, and not coaxial with the rollers of the first row.

Abstract: A powered omni-directional aircraft galley servicing vehicle that includes a circular frame and two drive wheels capable of independent powered forward and rearward rotation about a horizontal axis. The drive wheels are adapted to allow the vehicle to spin in place about a vertical axis which intersects the horizontal axis midway between the drive wheels and which is generally centered in the circular frame. A carrousel cabin is mounted to the frame on a lift such that it is capable of elevation to an aircraft galley. A partitioned lazy susan storage compartment rotates on the carrousel cabin to facilitate transfer of aircraft food and drink carts between an aircraft galley and the servicing vehicle.

Abstract: A vehicle for use in arctic environments, the vehicle comprising a hull for accommodating people, and a pair of rotatable propulsion screws connected to the hull for propelling the vehicle on water, ice, snow and land. Each propulsion screw comprises a shaft having at least one blade helically disposed therearound.

Abstract: An omniwheel is provided, which includes an omniwheel shaft, two wheel covers fixed at two ends of the omniwheel shaft, and a plurality of roller sets. The roller sets are coupled between the two wheel covers. Each of the roller sets has a plurality of rollers and at least one coupler, and each of the rollers has a roller shaft. The roller shafts are coupled with each other via the coupler, and each of the roller sets is respectively coupled to the wheel covers via the rollers disposed at two ends of the roller set. The omniwheel shaft and the roller shaft are inclined with respect to each other at an angle.

Abstract: The present invention is a screw driven, mobile base for traversing a wide range of outdoor soft or rough surfaces and terrains. The device has three degrees of freedom in a plane and, thus, is highly maneuverable, able to travel in any horizontal direction relative to its orientation and able to orient itself independently of the direction of travel. Each screw comprises a structural core with an outer helical edge profile of curved cross-section, having an abrasion resistant, low friction material on the outer surface. The device rides on the low friction profiles and relies on the combined effects of the multiple drive screws against the ground surface. The drive screw axes are non-parallel in most of the configurations.

Abstract: A screw drive vehicle has a main housing with forward and aft ends and first and second lateral sides. A first support arm rotatably supports a first pontoon assembly from the first lateral side of the main housing. A second support arm rotatably supports a second pontoon assembly from the second lateral side of the main housing. A reversible motor in the housing simultaneously rotates the support arms from positions parallel to one another and the main housing to non-parallel positions. Each pontoon assembly includes a tubular housing with exterior screw thread supported for rotation between distal ends of the arm and a reversible pontoon drive motor operably coupled with the tubular housing so as to rotate the housing and thread in a selected rotational direction.

Abstract: A screw drive vehicle has a main housing with forward and aft ends and first and second lateral sides. A first support arm rotatably supports a first pontoon assembly from the first lateral side of the main housing. A second support arm rotatably supports a second pontoon assembly from the second lateral side of the main housing. A reversible motor in the housing simultaneously rotates the support arms from positions parallel to one another and the main housing to non-parallel positions. Each pontoon assembly includes a tubular housing with exterior screw thread supported for rotation between distal ends of the arm and a reversible pontoon drive motor operably coupled with the tubular housing so as to rotate the housing and thread in a selected rotational direction.

Abstract: A method of designing an omni-directional wheel for an omni-directional vehicle that exhibits constant ride height, low vibration, and reduced maximum ground contact pressure is disclosed. An omni-directional wheel consists of a wheel assembly rotatably connected to the omni-directional vehicle chassis. The wheel assembly includes a hub on which free spinning rollers are rotatably mounted at an angle to the wheel axis. The method of designing achieves constant ride height and low vibration operation by configuring the rollers with an exterior profile, thickness, material properties and surface grooving to achieve constant deflection of the roller contact surface at all wheel rotation angles.

Abstract: A column guided and supported self-propelled vehicle which is rigid in its pitch and roll axes but flexible in its yaw axis. The vehicle thus forms a beam between a series of columns which support and guide the vehicle. The vehicle is propelled by a flexible rotating screw which rotates against lugs which are mounted on each column. The vehicle is supported in the pitch axis and constrained in the roll axis by rollers, which are mounted on each column. A retainer on each column prevents the vehicle from leaving the column. The length of the vehicle determines the spacing of the columns. The vehicle is flexible in the yaw axis so that it can negotiate a curved path of columns. The vehicle car body/structure is modular and contains a series of vertical hinges or flexures which are located between each module to allow the vehicle freedom only in the yaw axis.

Abstract: A plurality of rotating bodies rotated in the direction orthogonal to the straight-forward direction of a wheel are disposed around the wheel in the wheel having rotating bodies provided with non-turning type rotating bodies. Each rotating body is rotatably supported around the axis of rotation across the radial direction around an axle, and each rotating body is formed in a shape in which an arc of the outer circumferential circle of the wheel is formed by a circumferential surface with the diameter of a tip portion smaller than the diameter of a base end portion. As a result, generation of a space between the rotating bodies can be suppressed.

Abstract: An omni-directional wheel for an omni-directional vehicle that exhibits constant ride height, low vibration, and reduced maximum ground contact pressure is disclosed. The invention consists of a wheel assembly rotatably connected to the omni-directional vehicle chassis. The wheel assembly includes a hub on which free spinning rollers are rotatably mounted at an angle to the wheel axis. Constant ride height and low vibration operation are accomplished by configuring the rollers with an exterior profile, thickness, material properties and surface grooving to achieve constant deflection of the roller contact surface at all wheel rotation angles.

Abstract: An apparatus and methods are provided for performing maintenance procedures such as washing, cleaning, deicing, and painting to an aircraft. The apparatus according to an embodiment of the present invention preferably has a mobile base having a plurality of wheel members for allowing the mobile base to travel along surfaces and a plurality of support surface registering members for registering the mobile base to a support surface to inhibit movement of the plurality of wheel members. The apparatus also preferably has a boom member having a proximal end portion rotatably mounted to the mobile base and being movable between a retracted position and an extended position and an aircraft maintenance tool rotatably connected to a distal end portion of the boom member.

Abstract: An omni-directional wheel for an omni-directional vehicle that exhibits constant ride height, low vibration, and reduced maximum ground contact pressure is disclosed. The invention consists of a wheel assembly rotatably connected to the omni-directional vehicle chassis. The wheel assembly comprises a hub on which free spinning rollers are rotatably mounted at an angle to the wheel axis. Constant ride height and low vibration operation are accomplished by configuring the rollers with an exterior profile, thickness, material properties and surface grooving to achieve constant deflection of the roller contact surface at all wheel rotation angles.

Abstract: An omni-directional wheel for an omni-directional vehicle that exhibits constant ride height, low vibration, and reduced maximum ground contact pressure is disclosed. The invention consists of a wheel assembly rotatably connected to the omni-directional vehicle chassis. The wheel assembly comprises a hub on which free spinning rollers are rotatably mounted at an angle to the wheel axis. Constant ride height and low vibration operation are accomplished by configuring the rollers with an exterior profile, thickness, material properties and surface grooving to achieve constant deflection of the roller contact surface at all wheel rotation angles.

Abstract: In a transmission for a steerable drive wheel (4) of a forklift, which transmission is pivotable around a vertical axle (8) and contains a spur gear stage (24, 26) and a second reduction stage formed by a pinion shaft (28, 30) and a bevel wheel (36), the second reduction stage is designed as hypoid wheel set (30, 36) with positive axle offset. Unlike the designs known already, it is hereby possible, by adhering to preset limits of the outer dimensions and a preset reduction ratio, to obtain a toothing of more supporting capacity and a thicker pinion shaft (28) so that the loads of the tooth flanks are canceled and it is possible to use a design of a high loaded pinion bearing (34) having more supporting capacity.

Abstract: An omni-directional wheel for an omni-directional vehicle that exhibits constant ride height, low vibration, and reduced maximum ground contact pressure is disclosed. The invention consists of a wheel assembly rotatably connected to the omni-directional vehicle chassis. The wheel assembly comprises a hub on which free spinning rollers are rotatably mounted at an angle to the wheel axis. Constant ride height and low vibration operation are accomplished by configuring the rollers with an exterior profile, thickness, material properties and surface grooving to achieve constant deflection of the roller contact surface at all wheel rotation angles.