Wheel and wheel assembly
First Claim
Patent Images
1. A wheel assembly for a mobile platform, the wheel assembly comprising:
- a first wheel and a second wheel, each wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub,wherein the first wheel is rotatably mounted to the second wheel at the same end of an axle, and the central axes of rotation of the first and second wheels are coaxial and so define a common axis;
a control mechanism for adapting the wheel assembly by rotating the first wheel with respect to the second wheel around the common axis.
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Abstract
A wheel assembly and a wheel are suitable for use with a mobile platform. The wheel assembly comprising a first wheel and a second wheel, each wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, where the first wheel is rotatably mounted to the second wheel on a common axis, and a control mechanism rotates the first wheel with respect to the second wheel.
31 Citations
16 Claims
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1. A wheel assembly for a mobile platform, the wheel assembly comprising:
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a first wheel and a second wheel, each wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the first wheel is rotatably mounted to the second wheel at the same end of an axle, and the central axes of rotation of the first and second wheels are coaxial and so define a common axis; a control mechanism for adapting the wheel assembly by rotating the first wheel with respect to the second wheel around the common axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A wheel for a mobile platform, the wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the wheel lobes each have a curved edge around a region of the wheel lobe edge furthest away from the hub, further comprising a revolute mechanism that is coaxially coupled to the hub;
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further comprising a stem member mounted to each wheel lobe, wherein the stem member couples the wheel lobe to the hub; wherein the stem member is rotatably mounted to the hub, and is rotatable about an axis of rotation that is non-parallel to a common axis.
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15. A wheel for a mobile platform, the wheel comprising a hub having a central axis of rotation, and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the wheel lobes each have a curved edge around a region of the wheel lobe edge furthest away from the hub, further comprising a revolute mechanism that is coaxially coupled to the hub;
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further comprising a stem member mounted to each wheel lobe, wherein the stem member couples the wheel lobe to the hub; wherein each stem member is narrower than the corresponding wheel lobe, when projected parallel to a common axis.
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16. A wheel for a mobile platform, the wheel comprising a hub having a central axis of rotation and at least two wheel lobes coupled to the hub, the wheel lobes extending radially from the hub and spaced around the central axis of the hub, wherein the wheel lobes each have a curved edge around a region of the wheel lobe edge furthest away from the hub, further comprising a revolute mechanism that is coaxially coupled to the hub;
wherein the revolute mechanism comprising an annular housing, one or more annular sections within the annular housing, and for each annular section a compliance member movably located therein, wherein the annular section and corresponding compliance member include a biasing mechanism that biases the compliance member away from end faces of the annular section.
Specification