Omnidirectional vehicle and method of controlling the same
Number of patents in Portfolio can not be more than 2000
United States of America Patent
Stats
-
Jun 18, 2002
Grant Date -
Jul 19, 2001
app pub date -
Jan 16, 2001
filing date -
Jan 17, 2000
priority date (Note) -
Expired
status (Latency Note)
Importance
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.
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