Omnidirectional vehicle and method of controlling the same
US6408230B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jan 16, 2001 |
| Grant date | Jun 18, 2002 |
| Priority date | — |
| Expiry date | Jan 16, 2021 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/027
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An omnidirectional vehicle includes a body, and a plurality of units, each unit including a bearing rotatably supporting a steering shaft around a vertical axis with a rotor plate, and a driving wheel axially supported by a supporter fixed to the rotor plate. The driving wheel is positioned at a location spaced apart for a first offset distance from the steering shaft in the rolling direction of the driving wheel and spaced apart for a second offset distance from the steering shaft in the direction perpendicular to the rolling direction of the driving wheel. A first motor is fixed to the body for driving the steering shaft, and a second motor is fixed to the body for rotating the driving wheel. In the holonomic omnidirectional vehicle, the control system and the driving system are simplified, and interference therebetween is prevented. Also, it is possible to reduce the capacities of the actuators, the electric power for driving the vehicle and the manufacturing costs.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.