Patent ID: 6408230
Filing Date: 2002-06-18
Classification: G05D

Abstract:
An omnidirectional vehicle comprising:a body; at least one driving unit fixed to the body and including a steering shaft, a first actuator fixed to the body for driving the steering shaft, a driving wheel having a shaft, and a second actuator fixed to the body for driving the shaft of the driving wheel; a bearing fixed to the body for axially supporting the steering shaft; first power transmitting means for transmitting a power from the first actuator to the steering shaft to drive the steering shaft; second power transmitting means for transmitting a power from the second actuator to the driving wheel to thereby drive the driving wheel; and supporting means having a bearing and positioned below the steering shaft for axially supporting the driving wheel via the bearing to thereby rotate the driving wheel together with the steering shaft around a vertical axis of the body; wherein said driving wheel is positioned in a first plane including the shaft of the driving wheel which is perpendicular to a second plane including a rotation axis of the steering shaft, said driving wheel located in the first plane being spaced apart for a first predetermined distance (d) from the second plane, said first plane being spaced apart for a second predetermined distance (s) from the rotation axis of the steering shaft at a point intersecting the second plane to thereby freely rotate the driving wheel around a horizontal axis, and said shaft of the driving wheel and the steering shaft do not cross each other.