Holonomic motion vehicle for travel on non-level surfaces

US8738226B2 · kind B2 · utility

Assignee

• The Boeing Company · US

Inventors

• James J. Troy · Issaquah, US
• Scott W. Lea · Renton, US
• Gary E. Georgeson · Tacoma, US
• Karl Edward Nelson · Shoreline, US
• Charles M. Richards · Kent, US

Key dates

• Filing date: Aug 16, 2011
• Grant date: May 27, 2014
• Expiry date: Nov 23, 2032

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0033
• WIPO field: Engines, pumps, turbines
• WIPO sector: Mechanical engineering

Abstract

Holonomic-motion ground vehicles (i.e., mobile platforms) that are capable of controlled movement across non-level surfaces, while carrying one or more non-destructive inspection sensors or other tools. The mobile platform comprises a frame having four (or a multiple of four) Mecanum wheels, each wheel driven by a respective independently controlled motor, and further having a plurality (e.g., two) of independently controlled suction devices. The Mecanum wheels enable holonomic motion, while the suction devices facilitate sufficiently precise control of motion on non-level surfaces.