×

Omnidirectional vehicle and method of controlling the same

  • US 6,408,230 B2
  • Filed: 01/16/2001
  • Issued: 06/18/2002
  • Est. Priority Date: 01/17/2000
  • Status: Expired due to Fees
First Claim
Patent Images

1. An omnidirectional vehicle comprising:

  • a body;

    at least one driving unit fixed to the body and including a steering shaft, a first actuator fixed to the body for driving the steering shaft, a driving wheel having a shaft, and a second actuator fixed to the body for driving the shaft of the driving wheel;

    a bearing fixed to the body for axially supporting the steering shaft;

    first power transmitting means for transmitting a power from the first actuator to the steering shaft to drive the steering shaft;

    second power transmitting means for transmitting a power from the second actuator to the driving wheel to thereby drive the driving wheel; and

    supporting means having a bearing and positioned below the steering shaft for axially supporting the driving wheel via the bearing to thereby rotate the driving wheel together with the steering shaft around a vertical axis of the body;

    wherein said driving wheel is positioned in a first plane including the shaft of the driving wheel which is perpendicular to a second plane including a rotation axis of the steering shaft, said driving wheel located in the first plane being spaced apart for a first predetermined distance (d) from the second plane, said first plane being spaced apart for a second predetermined distance (s) from the rotation axis of the steering shaft at a point intersecting the second plane to thereby freely rotate the driving wheel around a horizontal axis, and said shaft of the driving wheel and the steering shaft do not cross each other.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×