Abstract: An omni-directional wheel includes: a center wheel configured to rotate about a first rotation axis extending in a first direction; a plurality of peripheral wheels arranged along a circumference of the center wheel and configured to rotate about a second rotation axis extending in a second direction different from the first direction; and a plurality of variable supports provided on the center wheel and configured to respectively support the plurality of peripheral wheels. At least one of the plurality of variable supports is configured to absorb, when an impact force is applied to at least one of the plurality of peripheral wheels being supported by the at least one of the plurality of variable supports, the impact by changing a distance between the center wheel and the at least one of the plurality of peripheral wheels.

Abstract: An omni wheel, a motion device and a control method thereof are disclosed. The omni wheel includes a center wheel and a plurality of peripheral wheels distributed in a circle with respect to an axis of the center wheel; and a peripheral wheel brake component disposed on the centre wheel and configured to control a resistance of the peripheral wheels during a rotation of the peripheral wheels. The omni wheel solves the problem of low braking performance of the motion device by increasing the resistance of the peripheral wheels during rotation, and avoids any random rotation of the peripheral wheels.

Abstract: In mobile robot that runs from first flat surface which is a magnetic body to second flat surface which is a magnetic body and intersects the first flat surface, the mobile robot includes a pair of driving wheels which is rotatably supported to robot body and includes permanent magnets on outer circumferential surfaces thereof; driving mechanism which drives the pair of driving wheels to be independently rotated; rear wheel which is rotatably supported to the robot body and includes permanent magnets on an outer circumferential surface thereof; distance sensor which acquires a distance to the second flat surface; and pressing out mechanisms which include pressing out members which are movable between contact position at which the pressing out member can be in contact with the first flat surface and retracted position at which the pressing out member is retracted from the first flat surface.

Abstract: Concepts of an omnidirectional pinion wheel are described. In one embodiment, the wheel includes a hub, first and second annular rims each including inner and outer rim surfaces, spokes that extend from the hub to the first and second annular rims, a pinion ring including pinion rods that extend between the inner surfaces of the first and second annular rims, and first and second annular rings of rollers affixed on the outer surfaces of the first and second annular rims. Using an axis of freedom of the rollers, the wheel can move sideways in addition to forward and backward. Further, when used with a vertical rack gear, the wheel can provide vertical displacement by engagement between teeth of the gear and the pinion ring. Additionally, various racks and tracks with teeth for pinion ring engagement are described along with an example vehicle capable of vertical displacement using the wheels.

Abstract: The present invention relates to an omnidirectional wheel including a central hub; and a tread peripherally mounted on the central hub. The tread includes the juxtaposition of wheels or sleeves arranged along radial planes. The wheel also includes spokes connected, two-by-two, via a shaft section. The shaft section is coaxial to the hub, which has a round cross-section, and onto which freely rotatable rings are fitted. The shaft section includes struts inserted between each ring and shaped such that rings remain in a radial position. The shaft section also includes a series of a plurality of abutting tubular segments. The invention further relates to a module for assembling an omnidirectional wheel.

Abstract: Disclosed is a pipe cleaning robot. The pipe cleaning robot can be folded to easily enter a narrow-mouthed pipe at the initial stage, can flexibly increase or decrease in size corresponding to various diameters of pipes, and can adhere first and second transfer cars closely to the inner wall of the pipe during the transfer to prevent a rollover due to impact and vibration generated during the cleaning process.

Abstract: A method of assembling a wheel rotatable about a main axis and having a plurality of peripheral rollers mounted on peripheral axles aligned tangentially about the wheel and radially spaced from the main axis, each peripheral axle joined to adjacent other peripheral axles to form a continuous ring comprising the peripheral axles, the method including the steps of: molding each peripheral axle in a die having a cylindrical cycle for forming the axle shaft of the peripheral axle without longitudinal separation tines, the peripheral axles each having a receiving head portion for receiving a free end of the axle shaft of an adjacent peripheral axle; mounting a roller on each axle shaft; joining the peripheral axles together to form a continuous ring of peripheral axles; and molding a wheel body including a support structure around the continuous ring.

Abstract: The omni-directional wheel includes first support parts and second support parts which support large-diameter rollers and small-diameter rollers. Each of the first support parts is disposed at a position where the first support part is held between a pair of the large-diameter rollers, while each of the second support parts is disposed at a position where the second support part is held between a pair of the small-diameter rollers. The large-diameter rollers and the small-diameter rollers are disposed such that their outlines are arranged on a single circumference, with a part of the small diameter-side end face of the small-diameter rollers partially inserted in the recessed portions of the large-diameter rollers.

Abstract: Systems, devices, and methods are described for moving a patient to and from various locations, care units, etc., within a care facility. For example a transport and support vehicle includes a body structure including a plurality of rotatable members operable to frictionally interface the vehicle to a travel path and to move the vehicle along the travel path, and a surface structured and dimensioned to support an individual subject. A transport and support vehicle can include, for example, an imager operably coupled to one or more of a power source, a steering assembly, one or more of the plurality of rotatable members, etc., and having one or more modules operable to control the power source, steering assembly, one or more of the plurality of rotatable members, etc., so as to maintain an authorized operator in the image zone.

Abstract: A Mecanum wheel having a first wheel rim (2) which bears a multiplicity of rollers (4) which are arranged adjacent to one another in a circumferential direction and which are in each case mounted so as to be rotatable about a roller axis of rotation (38) arranged at an angle with respect to a first wheel rim axis of rotation (24), wherein said Mecanum wheel is characterized by a second wheel rim (3) which can be driven together with the first wheel rim (2) by means of a common drive shaft (33) and which bears a multiplicity of rollers (4) which are arranged adjacent to one another in a circumferential direction and which are in each case mounted so as to be rotatable about a roller axis of rotation (38) arranged at an angle with respect to a second wheel rim axis of rotation (25), which second wheel rim is connected to the first wheel rim (2) via damping means (7) formed so as to permit a limited relative movement of the first and the second rim (3) relative to one another.

Abstract: An approach is provided to sort objects on a surface of vertically-adjustable low friction transfer modules that are controlled by processors. A request to sort the plurality of objects in a horizontal direction is received with each of the objects is assigned a sort position. Sets of the vertically-adjustable low friction transfer modules are selected. The vertically-adjustable low friction transfer modules are arranged in a grid formation on the surface, with each of the sets of selected transfer modules being underneath a different object. The sets of selected transfer modules are vertically adjusted causing each of the objects to move independently from the other objects while avoiding the other objects in two or more dimensions formed on the surface. The result of the movement is that each of the objects is moved to a position respective of the other objects according to each object's respective sort position.

Abstract: Systems, devices, and methods are described for moving a patient to and from various locations, care units, etc., within a care facility. For example a transport and support vehicle includes a body structure including a plurality of rotatable members operable to frictionally interface the vehicle to a travel path and to move the vehicle along the travel path, and a surface structured and dimensioned to support an individual subject. A transport and support vehicle can include, for example, an imager operably coupled to one or more of a power source, a steering assembly, one or more of the plurality of rotatable members, etc., and having one or more modules operable to control the power source, steering assembly, one or more of the plurality of rotatable members, etc., so as to maintain an authorized operator in the image zone.

Abstract: An omni-wheel of a highly compact and light-weight is provided. The omni-wheel includes a disk-shaped hub member (110), a plurality of support arms (114) extending axially from the peripheral part of the hub member and arranged along a circle concentric to a rotational center line of the hub member at a regular interval, and a free roller (140) rotatably supported by a free end of each support arm around a rotational center line extending tangentially to a circle concentric to the rotational center line of the hub member and passing through a center of the free roller. The present invention also provides a wheel device incorporated with such a wheel and an inverted pendulum type vehicle using such a wheel device as a tail wheel unit.

Abstract: Provided is an omni-directional wheel including a substantially cylindrical hub provided so as to be rotatable around an axle; a plurality of rollers which have axes extending in a direction intersecting a radial direction of the hub and of each of which an outline has a curvature equal to a curvature of a circle centered at the axle; a support part which allows the rollers to be mounted so as to be rotatable around the respective axes, which supports the rollers such that the outlines are arranged on a single circumference; and rubber tubes which are held between and in contact between the outer circumferential surface of a cylindrical part of the hub and the inner circumferential surface of the support part in the radial direction.

Abstract: A spherical wheel intended to move a vehicle and a vehicle implementing the wheel are provided, the wheel having its rotation motorized by a shaft able to rotate about an axis. The wheel comprises two shells of which the surface follows the spherical surface of the wheel and each of which is bounded by a plane. The shells are each articulated by means of a pivot connection with respect to the shaft, an axis of each of the pivot connections being perpendicular to the plane of the relevant shell. The planes bounding the two shells are secant.

Abstract: The omni-directional wheel includes first support parts and second support parts which support large-diameter rollers and small-diameter rollers. Each of the first support parts is disposed at a position where the first support part is held between a pair of the large-diameter rollers, while each of the second support parts is disposed at a position where the second support part is held between a pair of the small-diameter rollers. The large-diameter rollers and the small-diameter rollers are disposed such that their outlines are arranged on a single circumference, with a part of the small diameter-side end face of the small-diameter rollers partially inserted in the recessed portions of the large-diameter rollers.

Abstract: A swivel drive system, such as for providing a driving force for a vehicle, comprises multiple drive modules, with each drive module including a plurality of wheel assemblies mounted for rotation relative to an axis of the drive module, with each wheel assembly being separately rotatable relative to a respective axis of the wheel assembly. Simultaneous rotation of the wheel assemblies relative to the axis of the drive module and rotation of each wheel assembly about its own axis generates a driving force for the vehicle.

Abstract: An obstacle traversing wheel assembly can include at least one primary wheel member mounted with a primary axis of rotation and capable of rolling engagement with a supporting surface, and at least one secondary wheel member mounted with a secondary axis of rotation. The secondary wheel member can have a plurality of surface engaging protrusions which enable the wheel assembly to traverse an obstacle by imparting climbing movement to the primary wheel member in response to engagement with the obstacle. The surface engaging protrusions can be defined by rolling wheel members. The obstacle traversing wheel assembly can be incorporated on a wide variety of wheel-bearing devices, such as wheelchairs, personal transportation devices, and intravenous fluid support racks.

Abstract: An obstacle traversing wheel assembly can include at least one primary wheel member mounted with a primary axis of rotation and capable of rolling engagement with a supporting surface, and at least one secondary wheel member mounted with a secondary axis of rotation. The secondary wheel member can have a plurality of surface engaging protrusions which enable the wheel assembly to traverse an obstacle by imparting climbing movement to the primary wheel member in response to engagement with the obstacle. The surface engaging protrusions can be defined by rolling wheel members. The obstacle traversing wheel assembly can be incorporated on a wide variety of wheel-bearing devices, such as wheelchairs, personal transportation devices, and intravenous fluid support racks.

Abstract: The invention relates to a wheel (1) with a driven wheel body (2), comprising two support elements (21, 22), between which a number of roller bodies (3) with a spherical surface are arrange to rotate, which at least partly extend beyond the circumference of the support elements (21, 22) the rotational axes of which are arranged at an angle to the rotational axis (23) of the wheel body (2). The ratio of the outer diameter (Du) of the wheel (1) to the maximum radius (Ra) of the roller body (3) is between 1.08 and 1.13, in particular, between 1.09 and 1.12.

Abstract: In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.

Abstract: A Mecanum wheel having a first wheel rim (2) which bears a multiplicity of rollers (4) which are arranged adjacent to one another in a circumferential direction and which are in each case mounted so as to be rotatable about a roller axis of rotation (38) arranged at an angle with respect to a first wheel rim axis of rotation (24), wherein said Mecanum wheel is characterized by a second wheel rim (3) which can be driven together with the first wheel rim (2) by means of a common drive shaft (33) and which bears a multiplicity of rollers (4) which are arranged adjacent to one another in a circumferential direction and which are in each case mounted so as to be rotatable about a roller axis of rotation (38) arranged at an angle with respect to a second wheel rim axis of rotation (25), which second wheel rim is connected to the first wheel rim (2) via damping means (7) formed so as to permit a limited relative movement of the first and the second rim (3) relative to one another.

Abstract: Assembling workability of driving disks to a vehicle body frame, and setting a spacing dimension of left and right driving disks in an axial direction with high accuracy to stabilize a traveling performance of an inverted pendulum type vehicle. The left and right driving disks are assembled to a hollow shaft member in a positioned state in an axial direction to form a subassembly. The hollow shaft member is fixed to a vehicle body frame by a bolt inserted in a central through-hole of the hollow shaft member.

Abstract: A friction drive device comprises a pair of drive disks rotatably supported by a frame opposite to each other in a coaxial relationship, a power source for individually rotatively actuating the drive disks, a traction wheel interposed between the drive disks and including a plurality of articulation members pivotally connected in tandem into a loop and a free roller rotatably support by each articulation member so as to be rotatable around an axial line extending along the loop, and drive rollers pivotally supported along a peripheral part of each drive disk at a regular angular interval and engaging the free rollers at an oblique angle. The articulation members allow the free rollers to be held in a loop without requiring a stiff annular member.

Abstract: An omnidirectional vehicle 1 includes: a main wheel 3 which is able to be driven in all directions; a base 2 which supports the main wheel 3; and a sub wheel 4 which is connected to the base 2 via an arm 15 and is grounded at a position apart from the ground contact point of the main wheel 3. The sub wheel 4 is attached so as to circularly move about the center of rotation of the main wheel 3.

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 Mecanum wheel having a circular plate with a plurality of peripheral flanges formed thereon, the flanges having tab portions bent at an angle of less than 90° from said plate; a roller being mounted to and cantilevering off of each of said tab portions such that the axis of rotation of each roller is at corresponding angle of less than 90° from said plate. In some cases, the angles are approximately the same, being approximately 45°. By cantilevering the rollers, more space is available for use by machines using this Mecanum wheel design.

Abstract: A handtruck or trolley (90) comprising: a handtruck frame (91) including a frame base (98) extending to an outward handle portion (97) of the handtruck frame, the handtruck frame generally lying in a first plane and having a front and a rear; a load support (95) mounted to the front of the handtruck frame and generally lying in a second plane inclined relative to the first plane; and a handtruck wheel assembly (60,80) mounted to the frame base, the handtruck wheel assembly comprising at least two sets of wheels (65a,60b,82a,82b), each set having a fixed main axis (6ba,106b) of rotation parallel to the first plane and capable of travel in a direction normal to the main axes, wherein the wheel or wheels of at least one of the sets of wheels is or are multidirectional and capable of travel in a lateral direction or in an angular direction having a vector component parallel to the main axes.

Abstract: A multi-directional driving mechanism of a spheric wheel is assembled at a preset position on the surface of an existing spheric wheel, thus driving multi-directional rotation of the spheric wheel. The multi-directional driving mechanism comprises at least two driving wheels assembled at opposite directions of the spheric wheel. An axle is set at the enter of said driving wheel for driving the rotation via a driving gear. One lateral side of the driving wheel is abutted tightly onto the surface of the spheric wheel for frictional driving. Rolling elements are pivoted at interval on the periphery of the driving wheel and the axial direction of said rolling elements runs perpendicular to the axial direction of axle on the driving wheel. The driving wheels assembled at opposite directions could be abutted normally onto the surface of the spheric wheel for driving or sliding without mutual interference.

Abstract: An omnidirectional wheel has a hub that is rotatable around a rotational axis, and two wheel discs connected to the hub and spaced coaxially on the hub. A number of roller bodies are located between the wheel discs, evenly distributed around a circumferential edge of the wheel. The respective roller axes of the roller bodies are aligned at a diagonal angle relative to the rotational axis, and are each supported in a freely rotating manner between the wheel discs at opposite ends thereof. Each roller body is mounted in a freely rotating manner in respective modules respectively attached to the wheel discs.

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: A friction drive device comprises a pair of drive disks rotatably supported by a frame opposite to each other in a coaxial relationship, a power source for individually rotatively actuating the drive disks, a traction wheel interposed between the drive disks and including a plurality of articulation members pivotally connected in tandem into a loop and a free roller rotatably support by each articulation member so as to be rotatable around an axial line extending along the loop, and drive rollers pivotally supported along a peripheral part of each drive disk at a regular angular interval and engaging the free rollers at an oblique angle. The articulation members allow the free rollers to be held in a loop without requiring a stiff annular member.

Abstract: An obstacle traversing wheel assembly can include at least one primary wheel member mounted with a primary axis of rotation and capable of rolling engagement with a supporting surface, and at least one secondary wheel member mounted with a secondary axis of rotation. The secondary wheel member can have a plurality of surface engaging protrusions which enable the wheel assembly to traverse an obstacle by imparting climbing movement to the primary wheel member in response to engagement with the obstacle. The surface engaging protrusions can be defined by rolling wheel members. The obstacle traversing wheel assembly can be incorporated on a wide variety of wheel-bearing devices, such as wheelchairs, personal transportation devices, and intravenous fluid support racks.

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: In a frictional drive device comprising a pair of drive disks each rotatably supported by a frame around a central axial line (A) in a mutually opposing relationship and configured to be individually rotatively actuated by a pair of actuators, a plurality of drive rollers arranged along an outer periphery of each drive disk so as to be rotatable along a prescribed plane of rotation, and an annular main wheel disposed at least approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member and a plurality of driven rollers supported along the annular member so as to be rotatable around a tangential line of the annular member, each drive roller includes at least a pair of individually rotatable disk members coaxially disposed to each other and having different diameters, the diameters being selected so that the disk members engage the corresponding driven roller at outer peripheral parts thereof.

Abstract: According to a vehicle 1 of the present invention, coordinate systems of a past estimated value and an instantaneous provisional value of a two-dimensional floor inclination are conformed, by coordinate converting at least one of the “past estimated value” and the “instantaneous provisional value” of the two-dimensional floor inclination, using an orientation of the vehicle 1 or a rate of change thereof. Thereafter, a new estimated value of the two-dimensional floor inclination is calculated, by calculating a weighed mean value or a low-pass filter value using the past estimated value and the instantaneous provisional value of the two-dimensional floor inclination.

Abstract: The omni-directional drive device comprises a main wheel (2) comprising an endless annular member rotatable around a center of cross section perpendicular to a corresponding tangential line, electric motors (5R and 5L) for producing rotative forces around the rotation axis of the main wheel (2) and around the center of cross section perpendicular to a corresponding tangential line of the main wheel (2) and an arrangement (rotary members (4R and 4L) fitted with free rollers (3R and 3L)) for converting the rotational forces of the electric motors (5R and 5L) to the rotational forces around the rotation center of the main wheel (2) and around the center (C) of cross section perpendicular to a corresponding tangential line of the main wheel (2).

Abstract: A system for and method of facilitating or enabling a lateral maneuver by a vehicle, including and utilizing a plurality of selectively engaged low friction components, such as rollers, bearings, balls, or high durometer high abrasion resistant low loss modulus rubber treads, and an actuator, such as at least one inflatable bladder, pivotal support strut, or active material element, drivenly coupled to the components.

Abstract: A roll assembly according to one example embodiment includes a rotatable input shaft having a rotational axis. At least one gear is mounted on the input shaft that rotates with the input shaft. A carrier frame is mounted on the input shaft and rotatable independent of the input shaft about the rotational axis of the input shaft. A plurality of rolls is rotatably mounted about a periphery of the carrier frame. An axial direction of rotation of each roll is transverse to the rotational axis of the input shaft. Each roll has a contact surface and a gear face that is operatively coupled to the at least one gear.

Abstract: A ball drive assembly for a vertical takeoff and land aircraft of the type having a plurality of supports extending outwardly from a central aircraft body. The ball drive assembly for one of the supports has a ball wheel housing containing a spherical, rigid ball, a drive shaft extending into the ball, a first driver for initiating rotating movement of the ball with respect to the ball wheel housing, and a second driver for initiating swiveling left and right movement of the ball so that it twists laterally of the ball wheel housing. Two motors are connected to the drivers, for operating them to rotate the ball with respect to the ball wheel housing, and effect both straight line movement and turning movement of the assembly.

Abstract: The kit includes a hub having a central axis and a perimeter. The perimeter comprises a plurality of flat spoke faces extending therearound. A spoke assembly is releasably couplable to each spoke face. Each spoke assembly is aligned with an adjacent spoke assembly to form a spoke. A method of assembling the wheel assembly is also provided.

Abstract: An inverted pendulum type omnidirectional vehicle includes: a pair of wheels; a drive mechanism; a control apparatus; an auxiliary wheel; and a vehicle body. Each of the wheels includes: a rotation member capable of rotating about the wheel axis; a plurality of free rollers which are disposed all around an outer circumference of the rotation member, and each of which is brought into contact with a road surface at a lowest position of the rotation member and is rotatable about a rotation axis diagonal with respect to the wheel axis. The free rollers on both sides in contact with the road surface at ground contact portions each have the rotation axis extending in parallel with the road surface, and are arranged in an orientation in which a distance between the rotation axes of the free rollers is shorter toward a side of the auxiliary wheel.

Abstract: Provided is a vehicle that can make tight turns without significantly changing an attitude of a rider, and is highly convenient in narrow places. A omni-directional one-wheeled vehicle comprises a vehicle body (7) and a secondary wheel (35) configured to contact a ground surface at a point displaced from a contact point of a driven road wheel (2).

Abstract: An omni-directional wheel has a rim for mounting a tire, a hub for rotatably attaching the wheel to a vehicle, and a means for connecting the rim and the hub. The rim of the wheel has a part which is rotatably connected to the hub and which, when radially rotating around the hub, engages the surface of the tire mounted on the rim for rolling the tire on the rim. Thus, when the wheel is engaging the ground, the tire rolling on the rim causes a side movement of the wheel in a plan orthogonal to the normal plan of rotation of the wheel when attached to the vehicle. A solid-core tire for use with the omni-directional wheel has treads patterns or a helical coil shape for engaging the rotatable part of the rim. A method for manufacturing a solid-core tire is also provided.

Abstract: In a frictional drive vehicle, a load acting on the vehicle such as the weight of a rider is converted into a force that urges two frictionally engaging parts (3L, 3R, 25) toward each other. Thereby, the contact pressure between the two frictionally engaging parts is maintained at an optimum level under all conditions. A weight of a rider may be transmitted to a drive member that frictionally engages a main wheel via a four-link parallel link mechanism (40, 50).

Abstract: In a frictional drive device comprising a pair of drive disks (54) each rotatably supported by a frame (10) around a central axial line (A) in a mutually opposing relationship and configured to be individually rotatively actuated by a pair of second actuators (64), a plurality of drive rollers (58) arranged along an outer periphery of each drive disk so as to be rotatable along a prescribed plane of rotation, and an annular main wheel (84) disposed at least approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member, each drive roller includes at least a pair of individually rotatable disk members (61) coaxially disposed to each other and having different diameters, the diameters being selected so that the disk members engage the corresponding driven roller at outer

Abstract: [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner. [Solution] An annular member (51) comprises a C-shaped main body (61) and a complementary member (62) defining an endless annular shape jointly with the main body (61), a joint (63) between the main body (61) and complementary member (62) includes mating surfaces that are non-perpendicular to the cross sectional center line of the annular member, and the main body (61) and the complementary member (62) are fixedly joined to each other by using a threaded bolt (64) passed radially through the mating surfaces.

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: A method of assembling a wheel rotatable about a main axis and having a plurality of peripheral rollers mounted on peripheral axles aligned tangentially about the wheel and radially spaced from the main axis, each peripheral axle joined to adjacent other peripheral axles to form a continuous ring comprising the peripheral axles, the method including the steps of: molding each peripheral axle in a die having a cylindrical cycle for forming the axle shaft of the peripheral axle without longitudinal separation tines, the peripheral axles each having a receiving head portion for receiving a free end of the axle shaft of an adjacent peripheral axle; mounting a roller on each axle shaft; joining the peripheral axles together to form a continuous ring of peripheral axles; and molding a wheel body including a support structure around the continuous ring.

Abstract: A system and method for determining orientation of a vehicle is provided. The method includes the steps of providing a vehicle having a hinge joint such that sections of the chassis are capable of rotation with respect to each other. A first and second wheel is mounted to one and the other of the chassis sections, respectively. Vehicle geometric data defining a distance between the hinge joint and the centers of the first and second wheels, respectively, and the diameter of the wheels is provided. Surface geometric data defining the curvature of the surface can be provided. The angle of rotation about the hinge joint is measured. An orientation of the vehicle relative to the surface based on the vehicle geometric date, the surface geometric data, and the measured angle of rotation can be determined. A system and method for determining the orientation of an object is also provided.