Abstract: A wheeled chassis having separately and independently pivitable offset drivewheels attached to a generally rectangular frame. The axis of reorienting rotation of one of the drivewheels is offset relative to the reorienting axis of the other drivewheel and located closer to the front to back centerline of the chassis while the centerline of the drivewheels paths are at the same distance from the right and left sides of the chassis. The axis of reorienting rotation of the drivewheels are perpendicular to the plane on which the drivewheels and casters rests. This design will produce stable, controlled, and efficient multidirectional motion.

Abstract: A wheeled chassis having separately and independently pivotable drivewheels attached to a generally rectangular frame. The axis of reorienting rotation of one of the drivewheels is offset relative to the reorienting axis of the other drivewheel to produce stable, controlled, and efficient multidirectional motion.

Abstract: A drivewheel assembly is connectable between a frame of a wheeled chassis and a drivewheel, and provides powered rotation for operatively moving the frame and chassis in a user-controllable direction along an underlying supporting surface and for selectively reorienting the drivewheel to change the direction of movement of the frame and chassis along the supporting surface. A motor connected to the drivewheel and operable to rotate the drivewheel is mounted to the frame for pivotal rotation relative to the frame about an orienting axis substantially perpendicular to the drivewheel axis of rotation. In a first operating mode of the drivewheel assembly the motor is coupled to the frame so as to prevent pivotal rotation of the motor about the orienting axis and maintain the current orientation of the drivewheel, whereby operation of the motor to rotate the drivewheel causes the frame and chassis to move along the supporting surface in a direction determined by the current orientation of the drivewheel.

Abstract: A wheeled chassis having separately and independently pivotable drivewheels for omnidirectional motion, including a frame preferably defining at least three comers; first and second drivewheels, each of which is connected by a kingpin to the frame and preferably to a respective one of two of the corners of the frame; at least one free-spinning wheel rotatably attached to a third corner of the frame; first and second pivoting devices for separate and independent and substantially unrestricted 360.degree.

Abstract: A gripper assembly for incorporation in a programmable machine comprises a gripper having a peripheral portion defining a plurality of different shaped object-receiving recesses therein, a member for supporting the gripper, an arrangement for securing the gripper to the supporting member for rotation relative thereto, and apparatus responsive to an electrical signal for rotating the gripper relative to the supporting member. A programmable machine incorporating two such gripper assemblies is also disclosed.

Abstract: A method and system for the passive solar energy induced storage and use of thermal energy at both high and low temperatures, comprising a collector (76,110) communicating with the atmosphere for collecting air acting as a carrier for thermal energy, an underground thermal storage reservoir (78,112) having a capacity sufficient to store thermal energy for substantially an entire heating or cooling season, and a solar chimney (82) providing convection means for at least in part inducing the natural circulation of air from the atmosphere into the collector into and through the thermal storage reservoir, and outwardly from the reservoir back into the atmosphere, to transfer thermal energy between the collector (76,110) and the reservoir (78,112).