Abstract: The disclosed invention introduces a steer-drive wheel mechanism, suitable for applications like mobile platforms, featuring two motors mounted on the platform. This design enables an unrestricted steering angle for the wheel without encountering challenges in delivering power and control signals to the motors. The two motors collaborate through two coaxially arranged axes in driving and steering the wheel, ensuring optimal power utilization and minimizing unnecessary mechanical stresses. Continuous cooperation of the two motors in driving and steering the wheel can be achieved using a ‘motion synthesizer.’ This device accepts two rotational motions from the motors and, depending on the required operation of the wheel mechanism, produces appropriate rotational motions for driving and steering the wheel.

Abstract: The disclosed invention introduces a steer-drive wheel mechanism, suitable for applications like mobile platforms, featuring two motors mounted on the platform. This design enables an unrestricted steering angle for the wheel without encountering challenges in delivering power and control signals to the motors. The two motors collaborate through two coaxially arranged axes in driving and steering the wheel, ensuring optimal power utilization and minimizing unnecessary mechanical stresses. Continuous cooperation of the two motors in driving and steering the wheel can be achieved using a ‘motion synthesizer.’ This device accepts two rotational motions from the motors and, depending on the required operation of the wheel mechanism, produces appropriate rotational motions for driving and steering the wheel.