Patent ID: 9586471
Date: 2017-03-07
CPC Classifications: A63C,B25J,B60B,B60K,B60L,B60W,B60Y,B62J,B62K,G05D,Y02T

Claim:
1. The robotic omniwheel apparatus system comprising: an omniwheel apparatus comprising: a wheel frame housing a hub motor with brake, a motor controller, microprocessors and sensor devices for controlling motion, a hub assemblies including; an axle rod, bearings, bolts, a hub cap with lug nuts, a yoke array with strut and hollow conduit to contain prewired USB power cable connections and motion sensors by plugging directly into omniwheel apparatus and other modules, a first connection method by affixing the yoke's strut end opening to couple directly to an omniwheel apparatus hub, said yoke array is further comprising: a second connection method to couple an upper yoke section to at least one of the following module array in any order; a third connection method to couple to the yoke to the base of the framed platform thusly supporting the module array, and also comprising a compartment to house the robotic omniwheel control system comprising wherein: