Patent ID: 8600600
Filing Date: 2013-12-03
Classification: B60B,H02K

Abstract:
1. A system for driving a spherical wheel, comprising: a rotating sphere having a plurality of magnetic modules; a fixed body having a plurality of coil modules adapted and configured to generate a magnetic field by current and partially enclosing the rotating sphere such that a portion of the rotating sphere is exposed; a support wheel disposed between the rotating sphere and the fixed body, the support wheel adapted and configured to (i) maintain a substantially constant distance between the rotating sphere and the fixed body and (ii) rotatably support the rotating sphere; a sensor provided in at least one of the rotating sphere and the fixed body, the sensor adapted and configured to measure a rotational speed and a position of the rotating sphere; and a control device adapted and configured to receive driving signals and the rotational velocity and the position measured by the sensor and to transmit a control signal supplying a current to the coil module.