Patent Publication Number: US-10766303-B2

Title: Positioning systems

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is related to the following U.S. patent application Ser. No. 14/568,985, entitled “Positioning Systems,”, filed Dec. 12, 2014, now U.S. Pat. No. 9,937,751 issued Apr. 10, 2018 and is incorporated herein by reference in its entirety. 
     BACKGROUND INFORMATION 
     1. Field 
     The present disclosure relates generally to positioning systems. More particularly, the present disclosure relates to positioning systems for manufacturing equipment. Yet more specifically, the present disclosure relates to a wheel assembly and wedge jack for positioning mobile manufacturing tools in a manufacturing environment. 
     2. Background 
     A manufacturing environment may include manufacturing tools that are automated. It may be desirable to move a height of a manufacturing tool. To move the height of the manufacturing tool, the base of the manufacturing tool may be moved relative to the manufacturing floor in a manufacturing environment. 
     The base of the manufacturing tool may be moved using jack systems. Conventional jack systems may be undesirably tall. Conventional jack systems may be difficult to integrate into the design of a tool lift or stabilization system. Considerable time may be expended designing the tool lift or stabilization system for each tool. Further, considerable time may be expended designing a tool lift or stabilization system for additional functionalities for a tool. 
     Sometimes a workpiece may be moved relative to manufacturing tools and the manufacturing floor in the manufacturing environment. Sometimes manufacturing tools may be moved relative to the manufacturing floor in the manufacturing environment. When manufacturing tools move within the manufacturing environment, they may be referred to as mobile manufacturing tools. 
     Mobile manufacturing tools may have wheels that may move the mobile manufacturing tool in a plurality of directions. These wheels may be referred to as omni-directional wheels. Some conventional examples of omni-directional wheels may include holonomic wheels, omni wheels, or mecanum wheels. However, conventional omni-directional wheels may have an undesirable height. Further, conventional omni-directional wheels may have undesirable surface loading. High surface loading can cause damage to the surface that it rolls across. Additionally, the rollers of conventional omni-directional wheels are contoured, which may cause building conventional omni-directional wheels to be undesirably complex. Further, wheel frames for conventional omni-directional wheels may require a 5 axis milling machine to construct. 
     Therefore, it would be desirable to have a method and apparatus that take into account at least some of the issues discussed above, as well as other possible issues. Specifically, one issue is to find a method and apparatus for changing the height of a manufacturing tool that may be integrated into a manufacturing tool base. Further, another issue is to find a method and apparatus for moving a mobile manufacturing tool in a plurality of directions. 
     SUMMARY 
     An illustrative embodiment of the present disclosure provides a wheel assembly. The wheel assembly comprises a wheel plate and rollers. The wheel plate has a perimeter and an axis of rotation that may be tiltable about a tilt axis. The rollers may be arranged near the perimeter of the wheel plate, each of the rollers having an axis of rotation parallel to the tilt axis. 
     Another illustrative embodiment of the present disclosure provides a wheel assembly. The wheel assembly comprises a wheel plate, rollers, and a number of bearings. The wheel plate has an axis of rotation and may be positioned in a plane. The rollers may be connected to the wheel plate. Each of the rollers has a central axis parallel to the plane. The number of bearings may be associated with the rollers such that the rollers may spin about a second axis relative to the wheel plate. Each central axis of the rollers remains parallel to each other central axis of the rollers. 
     A further illustrative embodiment of the present disclosure provides a wheel assembly. The wheel assembly comprises a mounting frame, a wheel plate, a lift, rollers, and a clocking plate. The mounting frame may be connected to a base by a horizontal pivot point. The wheel plate may be rotatable about a main bearing connected to the mounting frame. The wheel plate may have an axis of rotation that may be tiltable about a tilt axis through the horizontal pivot point. The lift may tilt the wheel plate about the tilt axis. The rollers may be connected to the wheel plate using a number of bearings. Each of the rollers may have an axis of rotation parallel to the tilt axis. Each roller of the rollers may be spinnable about the number of bearings. The clocking plate that maintains each central axis of the rollers parallel to each other central axis of the rollers. 
     A yet further illustrative embodiment of the present disclosure provides a method of moving a device on wheel assemblies in a direction. The method comprises tilting axes of rotation of wheel plates of the wheel assemblies about a tilt axis. The wheel plates may each have a perimeter. The wheel plates may each be associated with respective rollers arranged near the perimeter. Each of the rollers may have an axis of rotation parallel to the tilt axis. The method may also comprise contacting a manufacturing floor with a number of rollers of the rollers of each wheel assembly. The method may further comprise rotating a number of the wheel plates about a respective axis of rotation to move the device in the direction. 
     An illustrative embodiment of the present disclosure provides an apparatus. The apparatus comprises an upper frame, a lower frame associated with the upper frame, a wedge slideably located between the upper frame and the lower frame, and a force applicator associated with the wedge. 
     Another illustrative embodiment of the present disclosure provides an apparatus. The apparatus comprises an upper frame, a lower frame, a bias system, an upper air bearing, a lower air bearing, a foot, a wedge, and a force applicator. The bias system may be connected to the upper frame and the lower frame. The bias system may bias the upper frame and the lower frame towards each other. The upper air bearing may be coupled to the upper frame. The lower air bearing may be coupled to the lower frame. The foot may be associated with the lower frame. The wedge may be slideably located between the upper air bearing and the lower air bearing. The force applicator may be associated with the wedge. 
     A yet further embodiment of the present disclosure provides a method. The method comprises determining a desired height for an apparatus. The apparatus may comprise an upper frame, a lower frame associated with the upper frame, a wedge slideably located between the upper frame and the lower frame, and a force applicator associated with the wedge. The method may further comprise applying force to the wedge using the force applicator to slide the wedge between the upper frame and the lower frame such that the apparatus increases in height to the desired height. 
     The features and functions can be achieved independently in various embodiments of the present disclosure or may be combined in yet other embodiments in which further details can be seen with reference to the following description and drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The novel features believed characteristic of the illustrative embodiments are set forth in the appended claims. The illustrative embodiments, however, as well as a preferred mode of use, further objectives and features thereof, will best be understood by reference to the following detailed description of an illustrative embodiment of the present disclosure when read in conjunction with the accompanying drawings, wherein: 
         FIG. 1  is an illustration of an aircraft in which an illustrative embodiment may be implemented; 
         FIG. 2  is an illustration of a block diagram of a manufacturing environment in accordance with an illustrative embodiment; 
         FIG. 3  is an illustration of an isometric view of a tool in a manufacturing environment in accordance with an illustrative embodiment; 
         FIG. 4  is an illustration of a bottom isometric view of a tool in a manufacturing environment in accordance with an illustrative embodiment; 
         FIG. 5  is an illustration of a bottom view of a tool using a number of wheel assemblies in accordance with an illustrative embodiment; 
         FIG. 6  is an illustration of an isometric view of a wheel assembly in accordance with an illustrative embodiment; 
         FIG. 7  is an illustration of an isometric view of a wheel assembly in accordance with an illustrative embodiment; 
         FIG. 8  is an illustration of a top view of a wheel assembly in accordance with an illustrative embodiment; 
         FIG. 9  is an illustration of a cross-sectional view of a wheel assembly in accordance with an illustrative embodiment; 
         FIG. 10  is an illustration of an side view of a wheel assembly in a first position in accordance with an illustrative embodiment; 
         FIG. 11  is an illustration of an side view of a wheel assembly in a second position in accordance with an illustrative embodiment; 
         FIG. 12  is an illustration of a bottom view of a tool using a number of wheel assemblies and the respective drive vector of each wheel assembly in accordance with an illustrative embodiment; 
         FIG. 13  is an illustration of a bottom view of a tool using a number of wheel assemblies and the respective movement of each wheel assembly to move the tool in a first direction in accordance with an illustrative embodiment; 
         FIG. 14  is an illustration of a bottom view of a tool using a number of wheel assemblies and the respective movement of each wheel assembly to move the tool in a second direction in accordance with an illustrative embodiment; 
         FIG. 15  is an illustration of a bottom view of a tool using a number of wheel assemblies and the respective movement of each wheel assembly to move the tool in a direction in accordance with an illustrative embodiment; 
         FIG. 16  is an illustration of a wheel assembly contacting a plane in accordance with an illustrative embodiment; 
         FIG. 17  is an illustration of a wheel assembly contacting a plane in accordance with an illustrative embodiment; 
         FIG. 18  is an illustration of one example of a connection between a wheel assembly and a driver in accordance with an illustrative embodiment; 
         FIG. 19  is an illustration of another example of a connection between a wheel assembly and a driver in accordance with an illustrative embodiment; 
         FIG. 20  is an illustration of a bottom isometric view of a tool with a number of wedge jacks in accordance with an illustrative embodiment; 
         FIG. 21  is an illustration of an isometric view of a wedge jack in accordance with an illustrative embodiment; 
         FIG. 22  is an illustration of an isometric bottom view of a wedge jack in accordance with an illustrative embodiment; 
         FIG. 23  is an illustration of a cross-sectional view of a wedge jack in accordance with an illustrative embodiment; 
         FIG. 24  is an illustration of a flowchart of a process for moving a device on wheel assemblies in a direction in accordance with an illustrative embodiment; 
         FIG. 25  is an illustration of a flowchart of a process for increasing a height of an apparatus to a desired height in accordance with an illustrative embodiment; 
         FIG. 26  is an illustration of a block diagram of an aircraft manufacturing and service method in accordance with an illustrative embodiment; and 
         FIG. 27  is an illustration of a block diagram of an aircraft in which an illustrative embodiment may be implemented. 
     
    
    
     DETAILED DESCRIPTION 
     The illustrative embodiments recognize and take into account one or more different considerations. The different illustrative embodiments recognize and take into account that automated mobile manufacturing tools may have a stable platform to rest on. The different illustrative embodiments recognize and take into account that a platform may have only three points of contact on a manufacturing floor. However, the different illustrative embodiments recognize and take into account that only three points of contact on a manufacturing floor may not provide a desirable amount of at least one of stability, safety, or deflection for a manufacturing tool. 
     The different illustrative embodiments also recognize and take into account that a conventional omni-directional wheel, such as a mecanum wheel, a holonomic wheel, or an omni wheel, may have thousands of pounds per square inch surface loading as it moves. The different illustrative embodiments recognize and take into account that decreasing the surface loading may be accomplished by increasing a surface area of an omni-directional wheel contacting the manufacturing floor. Accordingly, the different illustrative embodiments further recognize and take into account that to decrease the surface loading, a larger omni-directional wheel may be introduced. A larger omni-directional wheel may have a greater overall diameter. A larger omni-directional wheel may have a greater diameter for each roller. A larger omni-directional wheel may have decreased roller diameters but more rollers around the perimeter. Further, the different illustrative embodiments recognize and take into account that to decrease the surface loading, a larger number of omni-directional wheels may be introduced. However, the different illustrative embodiments recognize and take into account that increasing the diameter of the omni-directional wheel may undesirably increase the height of the omni-directional wheel. The different illustrative embodiments recognize and take into account that increasing the height of the omni-directional wheel may raise the center of rotation of the perimeter of the omni-directional wheel which may raise the platform. Additionally, increasing the size of the omni-directional wheel may undesirably increase the cost of manufacturing the omni-directional wheel. Further, the different illustrative embodiments recognize and take into account that increasing the number of omni-directional wheels may undesirably increase the cost of the manufacturing tool. Further, increasing the number of omni-directional wheels may undesirably decrease the space available for attaching other components to the manufacturing tool. 
     The different illustrative embodiments recognize and take into account that vertical space may be valuable for manufacturing tools. For example, manufacturing tools may be desirably within reach of human operators. Further, vertical space may be used to attach other components to the manufacturing tool. Yet further, increasing the height of a manufacturing tool may make it more difficult to drive under overhanging structures such as wings, stabilizers, or other overhanging structures as the platform will be sitting relatively high above the manufacturing floor. 
     The different illustrative embodiments recognize and take into account that increasing at least one of design or manufacturing time may increase manufacturing cost. Further, the different illustrative embodiments recognize and take into account that forming conical wheels of conventional omni-directional wheels may take at least one of an undesirable amount of manufacturing time or cost. Yet further, the different illustrative embodiments recognize and take into account that incorporating traditional jacks to a tool base may take a considerable amount of design time for each tool. Thus, the illustrative embodiments present methods and apparatuses including a wheel assembly and a wedge jack which take into account at least one of the above considerations. 
     With reference now to the figures, and in particular, with reference to  FIG. 1 , an illustration of an aircraft is depicted in which an illustrative embodiment may be implemented. In this illustrative example, aircraft  100  may have wing  102  and wing  104  attached to body  106 . Aircraft  100  includes engine  108  attached to wing  102  and engine  110  attached to wing  104 . 
     Body  106  may have tail section  112 . Horizontal stabilizer  114 , horizontal stabilizer  116 , and vertical stabilizer  118  may be attached to tail section  112  of body  106 . 
     Aircraft  100  is an example of an aircraft which may be manufactured using positioning systems in accordance with an illustrative embodiment. For example, a component of aircraft  100  may assembled using manufacturing equipment associated with at least one of a wheel assembly or a wedge jack. 
     This illustration of aircraft  100  is provided for purposes of illustrating one environment in which the different illustrative embodiments may be implemented. The illustration of aircraft  100  in  FIG. 1  is not meant to imply architectural limitations as to the manner in which different illustrative embodiments may be implemented. For example, aircraft  100  is shown as a commercial passenger aircraft. The different illustrative embodiments may be applied to other types of aircraft, such as a private passenger aircraft, a rotorcraft, and other suitable types of aircraft. Further,  FIG. 27  below provides a functional block diagram of an aircraft such as aircraft  100  of  FIG. 1 . 
     Turning now to  FIG. 2 , an illustration of a block diagram of a manufacturing environment is depicted in accordance with an illustrative embodiment. Components of aircraft  100  of  FIG. 1  may be manufactured in manufacturing environment  200 . 
     Manufacturing environment  200  may be an environment in which a manufacturing tool may be moved and positioned. For example, manufacturing environment  200  may be an environment in which tool  202  may be positioned on manufacturing floor  204 . In one example, tool  202  may be positioned on manufacturing floor  204  by moving tool  202  from first location  206  to second location  208  on manufacturing floor  204 . As another example, tool  202  may be positioned on manufacturing floor  204  by increasing the height of tool  202 . Increasing the height of tool  202  may move tool  202  relative to manufacturing floor  204 . 
     Tool  202  may be moved on manufacturing floor  204  from first location  206  to second location  208  by moving base  210  of tool  202  from first location  206  to second location  208 . Tool  202  may be increased in height by moving base  210  away from manufacturing floor  204 . Moving base  210  away from manufacturing floor  204  increases the vertical distance between base  210  and manufacturing floor  204 . 
     Tool  202  may be moved using number of positioning systems  212 . Number of positioning systems  212  may include number of wheel assemblies  214  and number of wedge jacks  216 . Number of wheel assemblies  214  may be used to move base  210  of tool  202  relative to manufacturing floor  204 . Number of wheel assemblies  214  may be used to move base  210  of tool  202  from first location  206  to second location  208 . Number of wheel assemblies  214  may be used to move base  210  of tool  202  within at least one of x-axis  218  and y-axis  220  of three dimensional axis  222  relative to manufacturing floor  204 . 
     As used herein, the phrase “at least one of,” when used with a list of items, means different combinations of one or more of the listed items may be used and only one of each item in the aist may be needed. For example, “at least one of item A, item B, or item C” may include, without limitation, item A, item A and item B, or item B. This example also may include item A, item B, and item C or item B and item C. Of course, any combinations of these items may be present. In other examples, “at least one of” may be, for example, without limitation, two of item A; one of item B; and ten of item C; four of item B and seven of item C; or other suitable combinations. The item may be a particular object, thing, or a category. In other words, at least one of means any combination of items and number of items may be used from the list but not all of the items in the list are required. 
     Number of wedge jacks  216  may be used to increase height of tool  202 . Number of wedge jacks  216  may be used to move tool  202  relative to manufacturing floor  204 . Number of wedge jacks  216  may be used to move base  210  of tool  202  relative to manufacturing floor  204 . Number of wedge jacks  216  may be used to move base  210  of tool  202  in z-axis  224  of three dimensional axis  222  relative to manufacturing floor  204 . 
     Number of wheel assemblies  214  may include roller assemblies  228  associated with wheel plate  230 . Roller assemblies  228  may include rollers  232 , mounts  234 , and bearings  236 . Rollers  232  may be cylindrical rollers  238 . In some illustrative examples, rollers  232  may have a shape selected from at least one of a substantially cylindrical shape, a substantially oval shape, a wedge-like shape, a tapered cylindrical shape, or other desirable shape. Rollers  232  may be formed of a material selected to withstand desired loads. In some illustrative examples, rollers  232  may be formed of at least one of a polymeric material, a metal, an alloy, or other desirable material. In some illustrative examples, rollers  232  may include an elastomeric material such as a urethane or a rubber. In some illustrative examples, rollers  232  may be formed of more than one material. In some illustrative examples, rollers  232  may be formed of a core and an outer layer. In these illustrative examples, the outer layer may be a softer material than the core. In other illustrative examples, rollers  232  may be unitary components formed of a combination of one or more materials. 
     Rollers  232  have axes  240  which may all have angle  242  relative to wheel plate  230 . Each of axes  240  may be referred to as a center axis or an axis of rotation of a respective roller of rollers  232 . Angle  242  may be the same for each of axes  240 . Rollers  232  may be connected to mounts  234  via pins  244 . Pins  244  may run along axes  240 . Axes  240  may be parallel to drive direction vector  241 . Axes  240  may be perpendicular to free vector  243 . A free vector may be a direction in which a payload such as tool  202  may freely move on a roller assembly of roller assemblies  228 . As axes  240  may all have the same angle  242 , roller assemblies  228  may all have the same free vector. 
     Mounts  234  may each have an offset hole of offset holes  246 . Bearings  236  may be associated with mounts  234  and wheel plate  230 . Bearings  236  may facilitate rotation of mounts  234  relative to wheel plate  230 . 
     Clocking plate  248  may be associated with offset holes  246  of mounts  234 . Clocking plate  248  may facilitate rotation of mounts  234  relative to wheel plate  230 . Clocking plate  248  may rotate about a center that is offset from the center of rotation of main bearing  249 . Clocking plate  248  may rotate about center  247  that is offset from center of rotation  251  of main bearing  249  by an offset equal to the offset of offset holes  246  of mounts  234  of roller assemblies  228 . Clocking plate  248  may be held to rotation about center  247  by number of bearings  253 . In some illustrative examples, number of bearings  253  may include at least three cam follower bearings  255 . 
     First roller assembly  250  may be a roller assembly in roller assemblies  228 . First roller assembly  250  may include mount  252  having number of offset holes  254 , pin  256  having axis  258 , roller  259 , and bearing  260 . In some illustrative examples, first roller assembly  250  may also include optional roller  261 . In these illustrative examples, mount  252  of first roller assembly  250  may be referred to as a center stake mount. In these illustrative examples, a portion of mount  252  may be positioned between roller  259  and optional roller  261 . In some illustrative examples, each of roller assemblies  228  may be associated with a single roller of rollers  232 . In other illustrative examples, some of roller assemblies  228  may be associated with more than one roller of rollers  232 . In one illustrative example, each of roller assemblies  228  may be associated with two rollers of rollers  232 . First roller assembly  250  and the remainder of roller assemblies  228  may be associated with wheel plate  230 . 
     Wheel plate  230  may have plane  262 , tilt angle  264 , and axis of rotation  266 . Wheel plate  230  may be substantially planar. Plane  262  may run substantially through wheel plate  230 . Axis of rotation  266  may be substantially perpendicular to plane  262 . Wheel plate  230  may rotate about axis of rotation  266 . Main bearing  249  may facilitate rotation of wheel plate  230  relative to base  270  and mounting frame  272 . 
     Base  270  may connect wheel assembly  273  to base  210  of tool  202 . Base  270  of wheel assembly  273  may be connected to base  210  of tool  202 . As used herein, a first component “connected to” a second component means that the first component can be connected directly or indirectly to the second component. In other words, additional components may be present between the first component and the second component. The first component is considered to be indirectly connected to the second component when one or more additional components are present between the two components. When the first component is directly connected to the second component, no additional components are present between the two components. 
     Mounting frame  272  may be attached to main bearing  249 . Roller assemblies  228 , wheel plate  230 , and clocking plate  248  may be associated with mounting frame  272  through at least main bearing  249 . 
     Mounting frame  272  is tiltably connected to base  270  through tilt axis  274 . Mounting frame  272  may tilt relative to base  270  about tilt axis  274 . Wheel plate  230  is moveably connected to mounting frame  272 . When mounting frame  272  tilts relative to tilt axis  274 , wheel plate  230  may have tilt angle  264  relative to base  270 . Tilt angle  264  may be changed to allow a number of rollers  232  to contact manufacturing floor  204 . Further, tilt angle  264  may be adjusted to change the number of rollers  232  contacting manufacturing floor  204 . Yet further, tilt angle  264  may be changed to allow tool  202  to rest on support foot  276  of wheel assembly  273 . 
     Tilt angle  264  may be changed using lift  278 . Lift  278  may be a mechanical, pneumatic, hydraulic, or other desirable form of lift. Lift  278  may be associated with mounting frame  272 . Lift  278  may be activated to move mounting frame  272  about tilt axis  274 . 
     Driver  280  may be used to drive motion of at least one of wheel plate  230 , clocking plate  248 , and roller assemblies  228 . In some illustrative examples, driver  280  may be used to drive motion of wheel plate  230  to move tool  202  relative to manufacturing floor  204 . 
     Driver  280  may take the form of a vertically mounted drive shaft. Driver  280  may be directly or indirectly connected to wheel plate  230  to drive motion of wheel plate  230 . Driver  280  may be associated with at least one of a gear, a cog, or other desirable component. In some illustrative examples, a gear associated with driver  280  may directly interface with wheel plate  230  to drive motion of wheel plate  230 . In some illustrative examples, a gear associated with driver  280  may indirectly interface with wheel plate  230 . For example, a gear associated with driver  280  may interface with a chain, cog belt, flexible rack, or other desirable component. The chain, cog belt, flexible rack, or other desirable component may interface with wheel plate  230  to drive motion of wheel plate  230 . 
     Number of wedge jacks  216  includes wedge jack  281 . Wedge jack  281  includes upper frame  282 , lower frame  283 , wedge  284 , upper air bearing  285 , and lower air bearing  286 . Wedge  284  may be slideably located between upper frame  282  and lower frame  283 . Upper air bearing  285  may be coupled to upper frame  282 . Lower air bearing  286  may be coupled to lower frame  283 . Upper air bearing  285  and lower air bearing  286  may be formed of a material selected to provide sufficient friction to maintain a position of wedge  284  relative to upper frame  282  and lower frame  283 . 
     Bias system  287  may be connected to upper frame  282  and lower frame  283 . Bias system  287  may bias upper frame  282  and lower frame  283  towards each other. In some illustrative examples, bias system  287  may include a spring. At least one of upper air bearing  285  and lower air bearing  286  may be connected to pump  288 . When upper air bearing  285  is activated, friction between wedge  284  and upper air bearing  285  may be reduced. Air from upper air bearing  285  may act as a lubricant for movement of wedge  284 . When lower air bearing  286  is activated, friction between wedge  284  and lower air bearing  286  may be reduced. Air from lower air bearing  286  may act as a lubricant for movement of wedge  284 . In some illustrative examples, when upper air bearing  285  is activated, the interface between upper air bearing  285  and wedge  284  may be nearly frictionless. In some illustrative examples, when lower air bearing  286  is activated, the interface between lower air bearing  286  and wedge  284  may be nearly frictionless. 
     Upper frame  282  may be connected to base  210  of tool  202 . Lower frame  283  may be associated with foot  289 . Foot  289  may contact manufacturing floor  204 . Bearing  290  may be positioned between foot  289  and lower frame  283  such that foot  289  is substantially parallel with manufacturing floor  204 . 
     Wedge jack  281  may have height  291 . Wedge jack  281  may have desired height  292 . When height  291  is different from desired height  292 , wedge  284  may be moved along one of x-axis  218  and y-axis  220  using force applicator  293 . Force applicator  293  may apply force to wedge  284  to move wedge  284  relative to upper frame  282  and lower frame  283 . Force applicator  293  may be associated with at least one of a pneumatic force, a hydraulic force, an electro-mechanical force, or a mechanical force. Force applicator  293  may take the form of at least one of a pneumatic cylinder, hydraulic cylinder, ball screw drive, or any other desirable force applicator. 
     Wedge  284  may be a triangular shaped tool. Wedge  284  may include a number of inclined planes such that wedge  284  tapers from thick end  257  to thin end  263 . Wedge  284  may convert a force applied to one of thick end  257  and thin end  263  by force applicator  293  into forces perpendicular to its inclined surfaces. The mechanical advantage of wedge  284  may be given by the ratio of the length of its slope to its width. Giving wedge  284  a shorter length and a wider angle may require more force from force applicator  293  to move than giving wedge a longer length and a narrower angle. 
     Moving wedge  284  relative to upper frame  282  and lower frame  283  may change the distance between upper frame  282  and lower frame  283 . Wedge  284  may be moved to increase the distance between upper frame  282  and lower frame  283 . Wedge  284  may be moved to decrease the distance between upper frame  282  and lower frame  283 . For example, by increasing a distance between upper frame  282  and lower frame  283 , height  291  may be increased. As another example, by decreasing a distance between upper frame  282  and lower frame  283 , height  291  may be decreased. 
     Height  291  may be decreased to allow tool  202  to rest on a number of supports other than wedge jack  281 . For example, by decreasing height  291 , tool  202  may rest on at least one of feet, wheels, or other desirable supports other than wedge jack  281 . Decreasing height  291  may shift the weight of tool  202  from wedge jack  281  to feet, wheels, or other supports. By increasing height  291 , the weight of tool  202  may be shifted from a number of other supports to wedge jack  281 . 
     Turning now to  FIG. 3 , an illustration of an isometric view of a tool in a manufacturing environment is depicted in accordance with an illustrative embodiment. Manufacturing environment  300  may be a physical embodiment of manufacturing environment  200  of  FIG. 2 . Manufacturing environment  300  may have tool  302  on manufacturing floor  304 . Tool  302  may have base  306  with number of wheel assemblies  308 . 
     Turning now to  FIG. 4 , an illustration of a bottom isometric view of a tool in a manufacturing environment is depicted in accordance with an illustrative embodiment. View  400  is a view of tool  302  from direction  4 - 4  of  FIG. 3 . In view  400 , wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  of number of wheel assemblies  308  can be seen. Each of number of wheel assemblies  308  may include a respective number of rollers. The rollers may be cylindrical rollers. 
     Although number of wheel assemblies  308  includes four wheel assemblies, number of wheel assemblies  308  may include any desirable number of wheel assemblies. The quantity of wheel assemblies may be selected based on at least one of a desired number of contacts with the manufacturing floor for stability of tool  302 , a desired floor loading, a desired load for each roller contacting the manufacturing floor, the drive direction vector of each of number of wheel assemblies  308 , or other desirable factors. 
     Further, other optional components may be associated with base  306  which are not depicted. In some illustrative examples, a number of caster wheels may be associated with base  306  of tool  302 . The number of caster wheels may be used to support tool  302 . The number of caster wheels may freely spin. The number of caster wheels may not be power driven. 
     Turning now to  FIG. 5 , an illustration of a bottom view of a tool using a number of wheel assemblies is depicted in accordance with an illustrative embodiment. View  500  may be a bottom view of tool  302  as shown in  FIG. 3 . Specifically, view  500  may be a view of base  306  and number of wheel assemblies  308  from direction  5 - 5  of  FIG. 4 . 
     As can be seen in view  500 , each of number of wheel assemblies  308  may have a respective tilt axis, support foot, wheel plate, and rollers. For example, wheel assembly  402  may have tilt axis  502 , support foot  504 , wheel plate  506 , and rollers  508 . Wheel assembly  404  may have tilt axis  510 , support foot  512 , wheel plate  514 , and rollers  516 . Wheel assembly  406  may have tilt axis  518 , support foot  520 , wheel plate  522 , and rollers  524 . Wheel assembly  408  may have tilt axis  526 , support foot  528 , wheel plate  530 , and rollers  532 . 
     Tool  302  may rest on support foot  504 , support foot  512 , support foot  520 , and support foot  528  when base  306  is not moving relative to a manufacturing floor. When tool  302 , including base  306 , is to be moved relative to a manufacturing floor, wheel plate  506  may be tilted about tilt axis  502 . Tilting wheel plate  506  about tilt axis  502  may cause a number of rollers  508  to contact a manufacturing floor. When tool  302 , including base  306 , is to be moved relative to a manufacturing floor  304 , wheel plate  514  may be tilted about tilt axis  510 . Tilting wheel plate  514  about tilt axis  510  may cause a number of rollers  516  to contact a manufacturing floor. When tool  302 , including base  306 , is to be moved relative to manufacturing floor  304 , wheel plate  522  may be tilted about tilt axis  518 . Tilting wheel plate  522  about tilt axis  518  may cause a number of rollers  524  to contact manufacturing floor  304 . When tool  302 , including base  306 , is to be moved relative to manufacturing floor  304 , wheel plate  530  may be tilted about tilt axis  526 . Tilting wheel plate  530  about tilt axis  526  may cause a number of rollers  532  to contact a manufacturing floor. 
     Turning now to  FIG. 6 , an illustration of an isometric view of a wheel assembly is depicted in accordance with an illustrative embodiment. Wheel assembly  600  may be a physical embodiment of wheel assembly  273  of  FIG. 2 . Wheel assembly  600  may be one of wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  of number of wheel assemblies  308  of  FIG. 4 . 
     Wheel assembly  600  may have base  602 , tilt axis  604 , wheel plate  606 , driver  608 , support foot  610 , and roller assemblies  612 . Roller assemblies  612  may include first roller assembly  614 . First roller assembly  614  may include mount  616 , roller  618 , and pin  620 . Pin  620  may secure roller  618  to mount  616 . Axis  622  may run through pin  620 . Roller  618  may rotate about axis  622 . roller assemblies  612  may also include second roller assembly  624 . Second roller assembly  624  may have axis  626  and mount  628 . Axis  626  may be parallel to axis  622 . As wheel plate  606  rotates, axis  622  and axis  626  may remain parallel to each other. Further, as wheel plate  230  rotates, axis  622  and axis  626  may remain at the same angle relative to tilt axis  604 . As depicted, axis  622  and axis  626  may be parallel to tilt axis  604 . 
     Turning now to  FIG. 7 , an illustration of an isometric view of a wheel assembly is depicted in accordance with an illustrative embodiment. View  700  is a view of wheel assembly  600  from direction  7 - 7  of  FIG. 6 . 
     Wheel assembly  600  may have mounting plate  702  attached to base  602  at tilt axis  604 . Mounting plate  702  may tilt relative to base  602  about tilt axis  604 . Lift  704  is associated with mounting plate  702 . Lift  704  may be activated to tilt mounting plate  702  relative to base  602 . In some illustrative examples, lift  704  may be pneumatic. In other illustrative examples, lift  704  may be mechanical, hydraulic, or some other desirable form of lift. In some illustrative examples, lift  704  may be activated by receiving a command to operate. In some illustrative examples, lift  704  may be activated by receiving power such as electrical, hydraulic, pneumatic, or other type of power. 
     Clocking plate  706  and wheel plate  606  may be associated with mounting plate  702 . As mounting plate  702  tilts relative to base  602 , clocking plate  706  and wheel plate  606  also tilt relative to base  602 . Lift  704  may be activated to tilt wheel plate  606  such that a number of roller assemblies of roller assemblies  612  may contact a manufacturing floor  304 . In some illustrative examples, number of roller assemblies may be three or more roller assemblies. In some illustrative examples, number of roller assemblies may be two roller assemblies. In some illustrative examples, the number of roller assemblies may be one roller assembly. The number of roller assemblies contacting manufacturing floor  304  may change as wheel plate  606  rotates. 
     Turning now to  FIG. 8 , an illustration of a top view of a wheel assembly is depicted in accordance with an illustrative embodiment. View  800  is a view of wheel assembly  600  from direction  8 - 8  of  FIG. 7  with mounting plate  702  and lift  704  removed for demonstration purposes. 
     In view  800 , clocking plate  706  is more clearly shown. As can be seen from view  800 , clocking plate  706  may have number of connection points  802 . Each of number of connection points  802  may moveably connect a respective roller assembly of roller assemblies  612  to clocking plate  706 . For example, connection point  804  may moveably connect first roller assembly  614  to clocking plate  706 . Connection point  806  may moveably connect second roller assembly  624  to clocking plate  706 . As can be seen from view  800 , the center of rotation  807  of clocking plate  706  is offset from the center of rotation  809  of wheel plate  606 . Having the center of rotation  807  of clocking plate  706  offset from the center of rotation  809  of wheel plate  606  may allow for each of roller assemblies  612  to maintain the angle of their axis of rotation relative to driver  608 . 
     Each of roller assemblies  612  may also have a respective bearing of bearings  808 . Bearings  808  may facilitate movement of roller assemblies  612  relative to wheel plate  606 . First roller assembly  614  may be associated with first bearing  810  of bearings  808 . First bearing  810  may facilitate movement of first roller assembly  614  relative to wheel plate  606 . For example, first bearing  810  may allow mount  616  to rotate relative to wheel plate  606 . Second roller assembly  624  may be associated with second bearing  812  of bearings  808 . Second bearing  812  may allow mount  628  of first roller assembly  614  to rotate relative to wheel plate  606 . 
     Wheel plate  606  may be associated with main bearing  814 . Main bearing  814  may facilitate rotation of wheel plate  606  relative to base  602 . 
     Turning now to  FIG. 9 , an illustration of a cross-sectional view of a wheel assembly is depicted in accordance with an illustrative embodiment. View  900  is a view of wheel assembly  600  within cross-section  9 - 9  of  FIG. 8 . 
     As can be seen from view  900 , as lift  704  expands, mounting plate  702  may tilt relative to base  602 . As a result of mounting plate  702  tiling, wheel plate  606  may also tilt relative to base  602 . 
     Turning now to  FIG. 10 , an illustration of a side view of a wheel assembly in a first position is depicted in accordance with an illustrative embodiment. View  1000  is a view of wheel assembly  600  from direction  10 - 10  of  FIG. 8 . 
     In view  1000 , plane  1002  of wheel plate  606  is substantially parallel to manufacturing floor  1004 . Plane  1002  runs through wheel plate  606 . As plane  1002  is substantially parallel to manufacturing floor  1004 , roller assemblies  612  do not contact manufacturing floor  1004 . As plane  1002  is substantially parallel to manufacturing floor  1004 , support foot  610  contacts manufacturing floor  1004 . 
     Turning now to  FIG. 11 , an illustration of an side view of a wheel assembly in a second position is depicted in accordance with an illustrative embodiment. View  1100  is a view of wheel assembly  600  from direction  10 - 10  of  FIG. 8 . View  1100  is a view of wheel assembly  600  as shown in  FIG. 10 , but with wheel plate  606  tilted. 
     In view  1100 , plane  1002  of wheel plate  606  is not substantially parallel to manufacturing floor  1004 . As plane  1002  is not substantially parallel to manufacturing floor  1004 , number of roller assemblies  612  contact manufacturing floor  1004 . As plane  1002  is not substantially parallel to manufacturing floor  1004 , support foot  610  does not contact manufacturing floor  1004 . 
     In view  1100 , plane  1002  of wheel plate  606  may be at tilt angle  1102 . Tilt angle  1102  may be any desirable angle. Tilt angle  1102  may be selected such that a desirable number of roller assemblies  612  may contact manufacturing floor  1004 . In some illustrative examples, the desirable number of roller assemblies  612  contacting manufacturing floor  1004  may be between one and three roller assemblies. In other illustrative examples, the desirable number of roller assemblies  612  contacting manufacturing floor  1004  may be greater than three. The number of roller assemblies  612  contacting manufacturing floor  1004  may vary as wheel plate  606  rotates. The number of roller assemblies  612  contacting manufacturing floor  1004  may vary as tilt angle  1102  changes. 
     Tilt angle  1102  may be selected such that support foot  610  does not contact manufacturing floor  1004 . In some illustrative examples, tilt angle  1102  may be between about −90 degrees and about 90 degrees. In one illustrative example, tilt angle  1102  may be equal to or less than about 0 degrees such that support foot  610  contacts manufacturing floor  1004 . In one illustrative example, tilt angle  1102  may be between about 0 degrees and about −5 degrees such that support foot  610  contacts manufacturing floor  1004 . In one illustrative example, tilt angle  1102  may be between about 0 degrees and −90 degrees such that support foot  610  contacts manufacturing floor  1004 . 
     In one illustrative example, tilt angle  1102  may be greater than about 0 degrees such that a desirable number of roller assemblies  612  may contact manufacturing floor  1004 . In some illustrative examples, tilt angle  1102  may be between about 0.05 degrees and 5 degrees such that the axis of rotation of wheel plate  606  is tiltable between about 0.05 degrees and 5 degrees. In some illustrative examples, tilt angle  1102  may be between about 0 degrees and about 5 degrees such that a desirable number of roller assemblies  612  may contact manufacturing floor  1004 . In one illustrative example, tilt angle  1102  may be about 5 degrees such that a desirable number of roller assemblies  612  may contact manufacturing floor  1004 . As depicted, tilt angle  1102  is about 5 degrees. 
     Turning now to  FIG. 12 , an illustration of a bottom view of a tool using a number of wheel assemblies and the respective drive vector of each wheel assembly is depicted in accordance with an illustrative embodiment. View  1200  may be a bottom view of tool  302 . Specifically, view  1200  may be a view of base  306  and number of wheel assemblies  308  from direction  5 - 5  of  FIG. 4 . 
     In view  1200 , it may be desirable to move tool  302  and base  306  in direction  1202 . To move tool  302  in direction  1202 , at least one of wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  may be powered to drive tool  302  in direction  1202 . For example, wheel plates of at least one of wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  may be rotated to drive tool  302  in direction  1202 . In this illustrative example, direction  1202  may be a counterclockwise direction. 
     Direction  1202  may be compared to respective drive direction vectors of number of wheel assemblies  308 . Each drive direction vector may remain constant as each respective wheel plate spins. For example, direction  1202  may be compared to each of drive direction vector  1204 , drive direction vector  1206 , drive direction vector  1208 , and drive direction vector  1210 . As depicted, each respective drive direction vector of a respective wheel assembly in the wheel assemblies may be substantially parallel to an axis of rotation of each roller of the respective wheel assembly. For example, drive direction vector  1204  of wheel assembly  402  may be substantially parallel to the axis of rotation of each roller of rollers  508 . 
     A movement contribution for each of number of wheel assemblies  308  may be based on the comparison of each of drive direction vector  1204 , drive direction vector  1206 , drive direction vector  1208 , and drive direction vector  1210  to direction  1202 . Afterwards, each of the number of the wheel plates may rotate based on the movement contribution for each of number of wheel assemblies  308 . A movement contribution may include a direction of movement of a respective wheel plate and a speed of a respective wheel plate. 
     In this illustrative example, wheel plate  506  of wheel assembly  402  may move in direction  1212 . Direction  1212  may be a clockwise direction. Wheel plate  514  of wheel assembly  404  may move in direction  1214 . Direction  1214  may be a clockwise direction. Wheel plate  530  of wheel assembly  408  may move in direction  1216 . Direction  1216  may be a clockwise direction. Wheel plate  522  of wheel assembly  406  may move in direction  1218 . Direction  1218  may be a clockwise direction. Although each of direction  1212 , direction  1214 , direction  1216 , and direction  1218  are the same, the speed at which wheel plate  506 , wheel plate  514 , wheel plate  530 , and wheel plate  522  move may not be the same. Further, the speed at which any wheel plate of wheel plate  506 , wheel plate  514 , wheel plate  530 , and wheel plate  522  move may be the same or different as any other wheel plate of wheel plate  506 , wheel plate  514 , wheel plate  530 , and wheel plate  522 . 
     In this illustrative example, all of number of wheel assemblies  308  may have a number of rollers contacting a manufacturing floor to move tool  302  in direction  1202 . In some illustrative examples, fewer than all of number of wheel assemblies  308  may be contacting the manufacturing floor. 
     How many of number of wheel assemblies  308  have rollers contacting the manufacturing floor may be determined based on at least one of the quantity of wheel assemblies in number of wheel assemblies  308 , a desired number of contacts with the manufacturing floor for stability of tool  302 , a desired floor loading, a desired load for each roller contacting the manufacturing floor, the drive direction vector of each of number of wheel assemblies  308 , or other desirable factors. For example, number of wheel assemblies  308  may be eight wheel assemblies instead of four. In one illustrative example, fewer than eight wheel assemblies may have rollers contacting the manufacturing floor. In other illustrative examples, all eight wheel assemblies may have rollers contacting the manufacturing floor. 
     Turning now to  FIG. 13 , an illustration of a bottom view of a tool using a number of wheel assemblies and the respective movement of each wheel assembly to move the tool in a first direction is depicted in accordance with an illustrative embodiment. View  1300  may be a bottom view of tool  302 . Specifically, view  1300  may be a view of base  306  and number of wheel assemblies  308  from direction  5 - 5  of  FIG. 4 . 
     In view  1300 , it may be desirable to move tool  302  and base  306  in direction  1302 . To move tool  302  in direction  1302 , at least one of wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  may be powered to drive tool  302  in direction  1302 . For example, wheel plates of at least one of wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  may be rotated to drive tool  302  in direction  1302 . 
     Direction  1302  may be compared to respective drive direction vectors of number of wheel assemblies  308 . Each drive direction vector may remain constant as each respective wheel plate spins. For example, direction  1302  may be compared to each of drive direction vector  1204 , drive direction vector  1206 , drive direction vector  1208 , and drive direction vector  1210 . As depicted, each respective drive direction vector of a respective wheel assembly in the wheel assemblies may be substantially parallel to an axis of rotation of each roller of the respective wheel assembly. For example, drive direction vector  1204  of wheel assembly  402  may be substantially parallel to the axis of rotation of each roller of rollers  508 . 
     A movement contribution for each of number of wheel assemblies  308  may be based on the comparison of each of drive direction vector  1204 , drive direction vector  1206 , drive direction vector  1208 , and drive direction vector  1210  to direction  1302 . Afterwards, each of the number of the wheel plates may rotate based on the movement contribution for each of number of wheel assemblies  308 . A movement contribution may include a direction of movement of a respective wheel plate and a speed of a respective wheel plate. 
     In this illustrative example, wheel plate  506  of wheel assembly  402  may move in direction  1304 . Direction  1304  may be a clockwise direction. Wheel plate  514  of wheel assembly  404  may move in direction  1306 . Direction  1306  may be a counter-clockwise direction. Wheel plate  530  of wheel assembly  408  may move in direction  1308 . Direction  1308  may be a counter-clockwise direction. Wheel plate  522  of wheel assembly  406  may move in direction  1310 . Direction  1310  may be a clockwise direction. Although direction  1306  and direction  1308  are the same, the speed at which wheel plate  514  and wheel plate  530  move may not be the same. Although direction  1304  and direction  1310  are the same, the speed at which wheel plate  506  and wheel plate  522  move may not be the same. Further, the speed at which any wheel plate of wheel plate  506 , wheel plate  514 , wheel plate  530 , and wheel plate  522  move may be the same or different as any other wheel plate of wheel plate  506 , wheel plate  514 , wheel plate  530 , and wheel plate  522 . 
     In this illustrative example, all of number of wheel assemblies  308  may have a number of rollers contacting a manufacturing floor to move tool  302  in direction  1302 . In some illustrative examples, fewer than all of number of wheel assemblies  308  may be contacting the manufacturing floor. 
     Turning now to  FIG. 14 , an illustration of a bottom view of a tool using a number of wheel assemblies and the respective movement of each wheel assembly to move the tool in a second direction is depicted in accordance with an illustrative embodiment. View  1400  may be a bottom view of tool  302 . Specifically, view  1400  may be a view of base  306  and number of wheel assemblies  308  from direction  5 - 5  of  FIG. 4 . 
     In view  1400 , it may be desirable to move tool  302  and base  306  in direction  1402 . To move tool  302  in direction  1402 , at least one of wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  may be powered to drive tool  302  in direction  1402 . For example, wheel plates of at least one of wheel assembly  402 , wheel assembly  404 , wheel assembly  406 , and wheel assembly  408  may be rotated to drive tool  302  in direction  1402 . 
     Direction  1402  may be compared to respective drive direction vectors of number of wheel assemblies  308 . For example, direction  1402  may be compared to each of drive direction vector  1204 , drive direction vector  1206 , drive direction vector  1208 , and drive direction vector  1210 . As depicted, each respective drive direction vector of a respective wheel assembly in the wheel assemblies may be substantially parallel to an axis of rotation of each roller of the respective wheel assembly. For example, drive direction vector  1204  of wheel assembly  402  may be substantially parallel to the axis of rotation of each roller of rollers  508 . 
     A movement contribution for each of number of wheel assemblies  308  may be based on the comparison of each of drive direction vector  1204 , drive direction vector  1206 , drive direction vector  1208 , and drive direction vector  1210  to direction  1402 . Afterwards, a number of the wheel plates may rotate based on the movement contribution for each of number of wheel assemblies  308 . A movement contribution may include a direction of movement of a respective wheel plate and a speed of a respective wheel plate. 
     In this illustrative example, only wheel plate  514  of wheel assembly  404  and wheel plate  522  of wheel assembly  406  may be rotated to drive tool  302  in direction  1402 . In this illustrative example, wheel plate  506  of wheel assembly  402  and wheel plate  530  of wheel assembly  408  may remain substantially stationary. 
     Drive direction vector  1204  and drive direction vector  1208  are each substantially perpendicular to direction  1402 . As drive direction vector  1204  and drive direction vector  1208  are substantially perpendicular to direction  1402 , rollers  508  and rollers  532  may roll freely in direction  1402 . 
     In this illustrative example, wheel plate  506  may not move. Wheel plate  514  of wheel assembly  404  may move in direction  1404 . Direction  1404  may be a counter-clockwise direction. Wheel plate  530  of wheel assembly  408  may not move. Wheel plate  522  of wheel assembly  406  may move in direction  1406 . Direction  1406  may be a clockwise direction. The speed at which wheel plate  514  and wheel plate  522  move may not be the same. 
     In this illustrative example, all of number of wheel assemblies  308  may have a number of rollers contacting a manufacturing floor to move tool  302  in direction  1402 . In some illustrative examples, fewer than all of number of wheel assemblies  308  may be contacting the manufacturing floor. 
     Turning now to  FIG. 15 , an illustration of a bottom view of a tool using a number of wheel assemblies and the respective movement of each wheel assembly to move the tool in a direction is depicted in accordance with an illustrative embodiment. View  1500  may be a bottom view of a tool. Specifically, view  1500  may be a view of a base, such as base  306 , but having a number of wheel assemblies different than number of wheel assemblies  308  as depicted in  FIGS. 4-5 and 12-14 . 
     In view  1500 , tool  1502  may have base  1504  and number of wheel assemblies  1506 . Number of wheel assemblies  1506  may include wheel assembly  1508 , wheel assembly  1510 , and wheel assembly  1512 . As can be seen in view  1500 , base  1504  of tool  1502  may be substantially the same as base  306  of tool  302  but with only three wheel assemblies. 
     It may be desirable to move tool  1502  and base  1504  in direction  1514 . To move tool  1502  in direction  1514 , at least one of wheel assembly  1508 , wheel assembly  1510 , or wheel assembly  1512  may be powered to drive tool  1502  in direction  1514 . For example, wheel plates of at least one of wheel assembly  1508 , wheel assembly  1510 , or wheel assembly  1512  may be rotated to drive tool  1502  in direction  1514 . 
     Direction  1514  may be compared to respective drive direction vectors of number of wheel assemblies  1506 . For example, direction  1514  may be compared to each of drive direction vector  1516 , drive direction vector  1518 , and drive direction vector  1520 . As depicted, each respective drive direction vector of a respective wheel assembly in the wheel assemblies may be substantially parallel to an axis of rotation of each roller of the respective wheel assembly. For example, drive direction vector  1516  of wheel assembly  1508  may be substantially parallel to the axis of rotation of each roller of rollers  1522 . 
     A movement contribution for each of number of wheel assemblies  1506  may be based on the comparison of each of drive direction vector  1516 , drive direction vector  1518 , and drive direction vector  1520  to direction  1514 . Afterwards, a number of the wheel plates may rotate based on the movement contribution for each of number of wheel assemblies  1506 . A movement contribution may include a direction of movement of a respective wheel plate and a speed of a respective wheel plate. 
     In this illustrative example, all of wheel plate  1524  of wheel assembly  1508 , wheel plate  1526  of wheel assembly  1510 , and wheel plate  1528  of wheel assembly  1512  may be rotated to drive tool  1502  in direction  1514 . In this illustrative example, wheel plate  1524  of wheel assembly  1508  may move in direction  1530 . Direction  1530  may be a clockwise direction. Wheel plate  1526  of wheel assembly  1510  may move in direction  1532 . Direction  1532  may be a clockwise direction. Wheel plate  1528  of wheel assembly  1512  may move in direction  1534 . Direction  1534  may be a counter-clockwise direction. The speed at which wheel plate  1524 , wheel plate  1526 , and wheel plate  1528  move may not be the same. Further, the speed at which any wheel plate of wheel plate  1524 , wheel plate  1526 , and wheel plate  1528  move may be the same or different as any other wheel plate of wheel plate  1524 , wheel plate  1526 , and wheel plate  1528 . 
     In this illustrative example, number of wheel assemblies  1506  may include three wheel assemblies. As a result, in this illustrative example, all of number of wheel assemblies  1506  may have a number of rollers contacting a manufacturing floor to move tool  1502  in direction  1514 . However, in some illustrative examples, number of wheel assemblies  1506  may include a greater number of wheel assemblies than three. In these illustrative examples, all of number of wheel assemblies  1506  need not contact the manufacturing floor. 
     Turning now to  FIG. 16 , an illustration of a wheel assembly contacting a plane is depicted in accordance with an illustrative embodiment. View  1600  may be a view of a wheel assembly of number of wheel assemblies  308  of tool  302  contacting manufacturing floor  304  as shown in  FIG. 3 . For example, view  1600  may be a view of wheel assembly  404  contacting manufacturing floor  304 . 
     View  1600  may be a view of wheel assembly  404  from direction  16 - 16  of  FIG. 5 . Plane  1602  may be a translucent representation of manufacturing floor  304 . As illustrated, roller  1604 , roller  1606 , and roller  1608  of rollers  516  contact plane  1602 . Surface area  1610  of roller  1604  may contact plane  1602 . Surface area  1612  of roller  1606  may contact plane  1602 . Surface area  1614  of roller  1608  may contact plane  1602 . Surface area  1610  may be less than surface area  1612 . Surface area  1614  may be less than surface area  1612 . Surface area  1610  and surface area  1614  may be substantially the same. 
     Surface area  1610 , surface area  1612 , and surface area  1614  may be influenced by at least one of weight of tool  302 , material of rollers  516 , a number of wheel assemblies contacting plane  1602 , a number of rollers contacting plane  1602 , tilt angle of wheel plate  514  about tilt axis  510 , or other factors. For example, if the weight of tool  302  increases, at least one of surface area  1610 , surface area  1612 , or surface area  1614  may increase. As another example, should the material of rollers  516  be softer, at least one of surface area  1610 , surface area  1612 , or surface area  1614  increases. 
     View  1600  may be a representation of wheel assembly  404  at a single time as wheel assembly  404  moves in direction  1306 . At a different point in time different rollers of rollers  516  may contact plane  1602 . Further, at a different point in time, as wheel assembly  404  moves in direction  1306 , a different number of rollers of rollers  516  may contact plane  1602 . 
     Turning now to  FIG. 17 , an illustration of a wheel assembly contacting a plane is depicted in accordance with an illustrative embodiment. View  1700  may be a view of a wheel assembly of number of wheel assemblies  308  of tool  302  contacting manufacturing floor  304  as shown in  FIG. 3 . For example, view  1700  may be a view of wheel assembly  404  contacting manufacturing floor  304 . 
     View  1700  may be a view of wheel assembly  404  from direction  16 - 16  of  FIG. 5 . As illustrated, roller  1604  and roller  1606  of rollers  516  contact plane  1602 . Surface area  1702  of roller  1604  may contact plane  1602 . Surface area  1704  of roller  1606  may contact plane  1602 . Surface area  1702  may be substantially the same as surface area  1704 . As wheel plate  514  rotates in direction  1306 , surface area  1702  and surface area  1704  may change. 
     View  1700  may be a representation of wheel assembly  404  at a single time as wheel assembly  404  moves in direction  1306 . View  1700  may be a view of wheel assembly  404  after wheel plate  514  has rotated in direction  1306  from view  1700 . At a different point in time, different rollers of rollers  516  may contact plane  1602 . Further, at a different point in time, as wheel assembly  404  moves in direction  1306 , a different number of rollers of rollers  516  may contact plane  1602 . 
     Turning now to  FIG. 18 , an illustration of one example of a connection between a wheel assembly and a driver is depicted in accordance with an illustrative embodiment. View  1800  may be a view of a wheel assembly with the base and mounting frame removed for clarity. Wheel assembly components  1801  may be illustrations of components of wheel assembly  273  of  FIG. 2 . 
     In this illustrative example, driver  1802  is associated with gear  1804 . Gear  1804  may be a pinion gear. Wheel plate  1806  may have integral teeth  1808 . Integral teeth  1808  may interface with gear  1804 . As a result, wheel plate  1806  may function as a gear. Because of integral teeth  1808 , wheel plate  1806  may include an integral gear  1810  associated with a pinion gear  1804  of driver  1802 . 
     Turning now to  FIG. 19 , an illustration of another example of a connection between a wheel assembly and a driver is depicted in accordance with an illustrative embodiment. View  1900  may be a view of a wheel assembly with the base and mounting frame removed for clarity. Wheel assembly components  1901  may be illustrations of components of wheel assembly  273  of  FIG. 2 . 
     In this illustrative example, driver  1902  is associated with gear  1904 . Gear  1904  may be a pinion gear. Wheel plate  1906  may have integral teeth  1908 . Integral teeth  1908  may interface with flexible rack  1910 . As a result, wheel plate  1906  may function as a gear. Flexible rack  1910  may also interface with gear  1904 . Thus, gear  1904  may drive movement of wheel plate  1906  without directly contacting wheel plate  1906 . As a result of integral teeth  1908 , wheel plate  1906  may include an integral gear associated with a pinion gear  1904  of a driver  1902 . 
     Turning now to  FIG. 20 , an illustration of a bottom isometric view of a tool with a number of wedge jacks is depicted in accordance with an illustrative embodiment. Manufacturing environment  2000  may be a physical embodiment of manufacturing environment  200  of  FIG. 2 . Manufacturing environment  2000  may have tool  2002 . Tool  2002  may have base  2004  with number of wedge jacks  2006  and number of stationary feet  2008 . In some illustrative examples, tool  2002  may rest on number of wedge jacks  2006 . In some illustrative examples, tool  2002  may rest on number of stationary feet  2008 . In some illustrative examples, tool  2002  may rest on both number of stationary feet  2008  and number of wedge jacks  2006 . In some illustrative examples, tool  2002  may rest on a portion of number of stationary feet  2008  and a portion of number of wedge jacks  2006 . 
     In some illustrative examples, other components may be associated with base  2004 . For example, in some illustrative examples, a number of wheel assemblies, such as number of wheel assemblies  214  of  FIG. 2 , may be associated with base  2004 . 
     Turning now to  FIG. 21 , an illustration of an isometric view of a wedge jack is depicted in accordance with an illustrative embodiment. Wedge jack  2100  may be a physical embodiment of wedge jack  281  of  FIG. 2 . Wedge jack  2100  may be one of number of wedge jacks  2006  of  FIG. 20 . 
     Wedge jack  2100  may include upper frame  2102 , lower frame  2104 , and wedge  2106  slideably located between upper frame  2102  and lower frame  2104 . Lower frame  2104  may be associated with upper frame  2102 . Bias system  2108  may be connected to upper frame  2102  and lower frame  2104 . Bias system  2108  may bias upper frame  2102  and lower frame  2104  towards each other. Bias system  2108  may include spring  2110 . In some illustrative examples, bias system  2108  may include additional components other than spring  2110 . In some illustrative examples, bias system  2108  may include biasing components instead of spring  2110 . Other biasing components may be selected from a dashpot, a polymeric material, or other desirable biasing component. 
     Force applicator  2112  may be associated with wedge  2106 . Force applicator  2112  may be associated with at least one of a pneumatic force, a hydraulic force, an electro-mechanical force, or a mechanical force. 
     As depicted, wedge jack  2100  also includes foot  2114  associated with lower frame  2104 . Foot  2114  may impact a manufacturing floor such as manufacturing floor  204  of  FIG. 2 . 
     Wedge jack  2100  may also include inlet  2115  of upper air bearing  2116  and inlet  2117  of lower air bearing  2118 . Upper air bearing  2116  may be coupled to upper frame  2102  and lower air bearing  2118  may be coupled to lower frame  2104 . Inlet  2115  and inlet  2117  may receive and direct air into air bearing  2116  and air bearing  2118 . 
     Upper air bearing  2116  and lower air bearing  2118  may be configured to suspend wedge  2106  substantially frictionless. Upper air bearing  2116  and lower air bearing  2118  may be activated by applying pressurized gas to upper air bearing  2116  and lower air bearing  2118 . When upper air bearing  2116  and lower air bearing  2118  are activated, wedge  2106  may be moved by force applicator  2112 . By moving wedge  2106  relative to upper frame  2102  and lower frame  2104 , a height of wedge jack  2100  may be changed. For example, by moving wedge  2106  relative to upper frame  2102  and lower frame  2104 , the distance between upper frame  2102  and lower frame  2104  may be increased, increasing the height of wedge jack  2100 . As another example, by moving wedge  2106  relative to upper frame  2102  and lower frame  2104 , the distance between upper frame  2102  and lower frame  2104  may be decreased, decreasing the height of wedge jack  2100 . 
     When upper air bearing  2116  and lower air bearing  2118  are not activated, friction may maintain the position of wedge  2106  relative to upper frame  2102  and lower frame  2104 . Specifically, the friction between wedge  2106  and upper air bearing  2116  and lower air bearing  2118  may maintain the position of wedge  2106  relative to upper frame  2102  and lower frame  2104 . Friction between wedge  2106  and upper air bearing  2116  and lower air bearing  2118  may be sufficient to overcome the angle produced lateral force generated by the weight of a tool resting on wedge lift  2100 . 
     The material of upper air bearing  2116  and lower air bearing  2118  may be selected such that the friction between wedge  2106  and upper air bearing  2116  and lower air bearing  2118  is desirable. For example, the material of upper air bearing  2116  and lower air bearing  2118  may be selected such that the friction between wedge  2106  and upper air bearing  2116  and lower air bearing  2118  is sufficient to maintain the position of wedge  2106  relative to upper frame  2102  and lower frame  2104 . In some illustrative examples, upper air bearing  2116  and lower air bearing  2118  may be formed of a metal with micro holes. The micro holes may be drilled or laser cut in the metal. In some illustrative examples, upper air bearing  2116  and lower air bearing  2118  may be formed of at least one of sintered bronze, porous carbon, or steel. 
     The material of wedge  2106  may be selected such that friction between wedge  2106  and upper air bearing  2116  and lower air bearing  2118  is desirable. For example, the material of wedge  2106  may be selected such that the friction between wedge  2106  and upper air bearing  2116  and lower air bearing  2118  is sufficient to maintain the position of wedge  2106  relative to upper frame  2102  and lower frame  2104 . In some illustrative examples, wedge  2106  may be formed of a roughened metal. In some illustrative examples, this metal may be roughened through at least one of a mechanical process, a chemical process, or other desirable process. 
     Although wedge  2106  is depicted as maintaining its position using friction, in some illustrative examples, other forces may be applied to maintain the position of wedge  2106 . For example, an actuator may provide a force to wedge  2106  to counteract the lateral force created by the weight of a tool resting on wedge jack  2100 . 
     Turning now to  FIG. 22 , an illustration of an isometric bottom view of a wedge jack is depicted in accordance with an illustrative embodiment. View  2200  may be a view of wedge jack  2100  from direction  22 - 22  of  FIG. 21 . 
     Turning now to  FIG. 23 , an illustration of a cross-sectional view of a wedge jack is depicted in accordance with an illustrative embodiment. View  2300  may be a view of wedge jack  2100  along cross-section  23 - 23 ( 1 ) from direction  23 - 23 ( 2 ). 
     As depicted in view  2300 , wedge jack  2100  may include spherical bearing  2302  associated with lower frame  2104 . Foot  2114  may be associated with spherical bearing  2302 . Spherical bearing  2302  may allow foot  2114  to be substantially flush with a manufacturing floor. Spherical bearing  2302  may influence the compliance between foot  2114  and the manufacturing floor. 
     Wedge  2106  may have angle  2304 . Angle  2304  may be any desirable angle greater than about 0 degrees and less than about 90 degrees. In some illustrative examples, angle  2304  may be from about 1 to about 10 degrees. Angle  2304  may affect the maintenance of position of wedge  2106  relative to upper frame  2102  and lower frame  2104  when upper air bearing  2116  and lower air bearing  2118  are not activated. For example, increasing angle  2304  may require a greater amount of friction to maintain the position of wedge  2106  relative to upper frame  2102  and lower frame  2104 . Decreasing angle  2304  may reduce the amount of friction to maintain the position of wedge  2106  relative to upper frame  2102  and lower frame  2104 . 
     Wedge  2106  may be acted on by a force in direction  2306 . A force in direction  2306  acting on wedge  2106  may produce a desirable mechanical advantage. In some illustrative examples, the mechanical advantage may be approximately 8:1. The mechanical advantage may magnify the force generated by force applicator  2112 . 
     The illustrations of aircraft  100  in  FIG. 1 , tool  302  in  FIGS. 3-5 and 12-14 , wheel assembly  600  in  FIGS. 6-11, and 16-17 , tool  1502  in  FIG. 15 , wheel assembly  1512  in  FIG. 15 , wedge jack  2100  in  FIGS. 21-23 , and manufacturing environment  200  in  FIG. 2  are not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the ones illustrated may be used. Some components may be unnecessary. Also, the blocks are presented to illustrate some functional components. One or more of these blocks may be combined, divided, or combined and divided into different blocks when implemented in an illustrative embodiment. 
     For example, stationary feet may also be associated with base  210  of tool  202 . As another example, support foot  276  may not be associated with number of wheel assemblies  214 . 
     Further, base  306  of tool  302  may have a number of wedge jacks associated. Yet further, base  2004  may be associated with a number of wheel assemblies. As another example, base  2004  may not be associated with number of stationary feet  2008 . In one illustrative example, base  2004  may only be associated with number of wedge jacks  2006 . 
     Number of wedge jacks  2006  may include any number of wedge jacks  2006 . A desired quantity of wedge jacks in number of wedge jacks  2006  may be selected based on at least one of a weight of tool  2002 , a desired number of contacts with the manufacturing floor for stability of tool  2002 , a desired floor loading, a desired load for each wedge jack contacting the manufacturing floor, or other desirable factors. 
     Although wheel assembly  600  is depicted as having eight rollers, wheel assembly  600  may have any desirable number of rollers. For example, wheel assembly  600  may include three or more rollers. In some illustrative examples, wheel assembly  600  may have between eight and twelve rollers. By increasing the number of rollers, the size of the wheel assembly may be increased. Increasing the size of the wheel assembly may be undesirable. For example, increasing the size of the wheel assembly may reduce the number of components which may be associated with a base of the tool. 
     By increasing the number of rollers, the size of each roller may be decreased. By decreasing the size of the rollers, the load each roller may carry may be reduced. By reducing the number of rollers, the motion of an associated tool may become cruder. The motion of the associated tool may become cruder due to transfer of contact with the manufacturing floor between the rollers. With a smaller number of rollers, the transfer of load from one roller to another roller may be rougher than the transfer of load with a larger number of rollers. With a smaller number of rollers, each roller may contact the manufacturing floor for a higher percentage of time. Thus, the motion of the associated tool may become cruder due to the periodic pulsing duty cycle of each roller. 
     Additionally, although support foot  610  is associated with base  602 , support foot  610  may be associated with other portions of wheel assembly  600 . Yet further, although support foot  610  is depicted as perpendicular to base  602 , support foot  610  may be at any desirable angle relative to base  602 . 
     The different components shown in  FIGS. 1 and 3-23  may be combined with components in  FIG. 2 , used with components in  FIG. 2 , or a combination of the two. Additionally, some of the components in  FIGS. 1 and 3-23  may be illustrative examples of how components shown in block form in  FIG. 2  may be implemented as physical structures. 
     Turning now to  FIG. 24 , an illustration of a flowchart of a process for moving a device on wheel assemblies in a direction is depicted in accordance with an illustrative embodiment. Process  2400  may be used to move tool  202  of manufacturing environment  200  of  FIG. 2 . Process  2400  may be used to move a tool in a manufacturing environment to form a portion of aircraft  100  of  FIG. 1 . 
     Process  2400  may begin by tilting axes of rotation of wheel plates of the wheel assemblies about a tilt axis, the wheel plates each having a perimeter and associated with respective rollers arranged near the perimeter, in which each of the rollers has an axis of rotation parallel to the tilt axis (operation  2402 ). 
     The process may then contact a manufacturing floor with a number of rollers of the rollers of each wheel assembly (operation  2404 ). In some illustrative examples, a wheel assembly may initially have only one roller of its rollers contacting the manufacturing floor. In some illustrative examples, a wheel assembly may initially have only two rollers of its rollers contacting the manufacturing floor. In some illustrative examples, a wheel assembly may initially have three or more rollers of its rollers contacting the manufacturing floor. The number of rollers contacting the manufacturing floor may be influenced by at least one of how many rollers the wheel assembly contains, the tilt angle of the wheel plate, the material of the rollers, the spacing of the rollers, the weight of the tool, and the number of wheel assemblies. Further, traction of the rollers with the manufacturing floor may be influenced by the material of the rollers, a tilt angle, the weight of the tool, or other features. 
     In some illustrative examples, each of the wheel assemblies may have rollers contacting the manufacturing floor. In other illustrative examples, some of the wheel assemblies may not have rollers contacting the manufacturing floor. 
     Process  2400  may rotate a number of the wheel plates about a respective axis of rotation to move the device in the direction (operation  2406 ). Afterwards the process terminates. As the tool moves within the manufacturing environment, the wheel plate may rotate such that the rollers of the wheel assembly contacting the manufacturing floor may change. 
     As the tool moves within the manufacturing environment, how many of the rollers of each wheel assembly contacting the manufacturing floor may change. For example, a wheel assembly may initially have three rollers of its rollers contacting the manufacturing floor. As the tool moves within the manufacturing environment, the rollers may move so that only two rollers of the wheel assembly contact the manufacturing floor. As the tool continues to move within the manufacturing environment, the rollers may move so that only one roller of the wheel assembly contacts the manufacturing floor. 
     Turning now to  FIG. 25 , an illustration of a flowchart of a process for increasing a height of an apparatus to a desired height is depicted in accordance with an illustrative embodiment. Process  2500  may begin by determining a desired height for an apparatus, the apparatus comprising an upper frame, a lower frame associated with the upper frame, a wedge slideably located between the upper frame and the lower frame, and a force applicator associated with the wedge (operation  2502 ). The wedge may be formed of a material selected to provide sufficient friction to hold the wedge relative to the upper frame and the lower frame. In some illustrative examples, the wedge may be formed of at least one of wood, fiberglass, carbon fiber, metal, or other desirable material. In some illustrative examples, the metal may be steel. 
     Process  2500  may then apply force to the wedge using the force applicator to slide the wedge between the upper frame and the lower frame such that the apparatus increases in height to the desired height (operation  2504 ). In some illustrative examples, if friction of the wedge holds the wedge relative to the upper frame and the lower frame, the force may be sufficient to overcome friction of the wedge. In other illustrative examples, friction of the wedge may be reduced at least one of prior to or at about the same time as applying the force to the wedge using the force applicator. 
     In some illustrative examples, the force applicator may take the form of a pneumatic system. In these illustrative examples, the force applicator may be a pneumatic cylinder. In some other illustrative examples, the force applicator may take the form of a mechanical system. Afterwards the process terminates. 
     The flowcharts and block diagrams in the different depicted embodiments illustrate the architecture, functionality, and operation of some possible implementations of apparatuses and methods in an illustrative embodiment. In this regard, each block in the flowcharts or block diagrams may represent a module, a segment, a function, and/or a portion of an operation or step. 
     In some alternative implementations of an illustrative embodiment, the function or functions noted in the blocks may occur out of the order noted in the figures. For example, in some cases, two blocks shown in succession may be executed substantially concurrently, or the blocks may sometimes be performed in the reverse order, depending upon the functionality involved. Also, other blocks may be added in addition to the illustrated blocks in a flowchart or block diagram. Further, some blocks may not be implemented. 
     For example, in some illustrative examples, process  2400  may further compare the direction to respective drive direction vectors of the wheel assemblies to form a comparison, wherein each respective drive direction vector of a respective wheel assembly in the wheel assemblies is substantially parallel to an axis of rotation of each roller of the respective wheel assembly. Process  2400  may then determine a movement contribution for each of the wheel assemblies based on the comparison. Afterwards, process  2400  may rotate each of the number of the wheel plates based on the movement contribution for each of the wheel assemblies. In some illustrative examples, process  2400  may maintain each axis of rotation of rollers of each respective wheel assembly in the wheel assemblies parallel to each other central axis of the rollers of the wheel assembly. 
     In some illustrative examples, process  2500  may also activate an upper air bearing coupled to the upper frame and a lower air bearing coupled to the lower frame to suspend the wedge substantially frictionless prior to applying the force to the wedge. Process  2500  may then deactivate the upper air bearing and the lower air bearing after applying the force to the wedge. 
     In some illustrative examples, process  2500  may apply a force to the upper frame and the lower frame to bias the upper frame and lower frame towards each other. This force may be applied to the upper frame and the lower frame by a biasing system, such as bias system  2108  of  FIG. 21 . 
     Illustrative embodiments of the disclosure may be described in the context of aircraft manufacturing and service method  2600  as shown in  FIG. 26  and aircraft  2700  as shown in  FIG. 27 . Turning first to  FIG. 26 , an illustration of a block diagram of an aircraft manufacturing and service method is depicted in accordance with an illustrative embodiment. During pre-production, aircraft manufacturing and service method  2600  may include specification and design  2602  of aircraft  2700  in  FIG. 27  and material procurement  2604 . 
     During production, component and subassembly manufacturing  2606  and system integration  2608  of aircraft  2700  in  FIG. 27  takes place. Thereafter, aircraft  2700  in  FIG. 27  may go through certification and delivery  2610  in order to be placed in service  2612 . While in service  2612  by a customer, aircraft  2700  in  FIG. 27  is scheduled for routine maintenance and service  2614 , which may include modification, reconfiguration, refurbishment, and other maintenance or service. 
     Each of the processes of aircraft manufacturing and service method  2600  may be performed or carried out by a system integrator, a third party, and/or an operator. In these examples, the operator may be a customer. For the purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and major-system subcontractors; a third party may include, without limitation, any number of vendors, subcontractors, and suppliers; and an operator may be an airline, a leasing company, a military entity, a service organization, and so on. 
     With reference now to  FIG. 27 , an illustration of a block diagram of an aircraft is depicted in which an illustrative embodiment may be implemented. In this example, aircraft  2700  is produced by aircraft manufacturing and service method  2600  in  FIG. 26  and may include airframe  2702  with plurality of systems  2704  and interior  2706 . Examples of systems  2704  include one or more of propulsion system  2708 , electrical system  2710 , hydraulic system  2712 , and environmental system  2714 . Any number of other systems may be included. Although an aerospace example is shown, different illustrative embodiments may be applied to other industries, such as the automotive industry. 
     Apparatuses and methods embodied herein may be employed during at least one of the stages of aircraft manufacturing and service method  2600  in  FIG. 26 . One or more illustrative embodiments may be used during component and subassembly manufacturing  2606 . For example, aircraft manufacturing and service method  2600  of  FIG. 26  may be implemented using number of positioning systems  212  of  FIG. 2  to position tool  202  during component and subassembly manufacturing  2606 . Further, number of positioning systems  212  may also be used to position tool  202  during maintenance and service  2614 . 
     Although the different illustrative embodiments have been described with respect to tools in manufacturing environments, other illustrative embodiments may be applied to other types of equipment or other environments. For example, without limitation, other illustrative embodiments may be applied to transportation of goods, transportation of vehicles, storage environments, testing environments, or other desirable environments. 
     The different illustrative embodiments provide for positioning systems for tools or other equipment or components. The positioning systems may each take up smaller volumes than conventional positioning systems. 
     For example, wheel assemblies, such as wheel assembly  273 , may take up a smaller volume than conventional omni-directional wheels. Further, wheel assembly  273  may have a greater surface area contacting manufacturing floor  204  than a conventional wheel system. In some illustrative examples, wheel assembly  273  may have double the contact area on manufacturing floor  204  than a conventional omni-directional wheel of equal height. By increasing the surface area contacting manufacturing floor  204 , floor loading may be reduced. Forming wheel assembly  273  using cylindrical rollers  238  may be at least one of less expensive, less complicated to assemble, or less complicated to manufacture than forming conventional wheel systems with conical wheels. Wheel assemblies  214  may have at least the same maneuverability of a conventional omni-directional wheel. 
     Further, wheel assemblies, such as wheel assembly  273 , may have a smaller height than conventional omni-directional wheels. By wheel assembly  273  having a smaller height, tool  202  may be closer to manufacturing floor  204 . By having a smaller height, base  210  of tool  202  may push potential obstructions out of the way. By pushing potential obstructions out of the way, tool  202  may have safer movement across manufacturing floor  204 . Wheel assemblies  214  may allow tool  202  to have a lower center of gravity than a tool with conventional wheel systems. Having a lower center of gravity may increase the stability of tool  202 . 
     As another example, wedge jack  281  may have a lower height than conventional jacks. Wedge jack  281  may take up less volume than conventional jacks. As a result, using wedge jack  281  may allow for a greater number of components to be associated with base  210  of tool  202  than when a conventional jack is utilized. Wedge jack  281  may be integrated into a design of a tool or system without an undesirable amount of design time. Further, wedge jack  281  may consume no power or air in the locked state. Thus, wedge jack  281  may have fewer manufacturing costs than conventional jacks. 
     Wedge jack  281  may have a mechanical advantage of about 8:1 which magnifies the force generated by the force generator to increase the height of wedge jack  281 . Wedge  284  may have a shallow slope angle such that wedge  284  may remain stationary or “locked” relative to upper frame  282  and lower frame  283  of wedge jack  281 . 
     The description of the different illustrative embodiments has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. Further, different illustrative embodiments may provide different features as compared to other illustrative embodiments. The embodiment or embodiments selected are chosen and described in order to best explain the principles of the embodiments, the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.