| 摘要 |
The invention relates to a spherical wheel intended for moving a vehicle and to a vehicle using the wheel. The wheel (10) includes two cups (15, 16) whose surface follows the spherical surface of the wheel (10), the cups (15, 16) being each hinged by means of a pivoting link (19, 20) relative to a shaft. The wheel (10) also includes two casters (28, 29) each arranged in an opening of each of the cups (15, 16), the opening being centred on the axis (21, 22) of the corresponding pivot link (19, 20), each caster (28, 29) being aligned with the pivot link (19, 20) of the cup in question (15, 16). Each caster (28, 29) provides rolling on the spherical surface. Radii S of the opening of each cup (15, 6) and r of the corresponding caster (28, 29) are defined substantially such as to balance the forces necessary for driving a cup (15, 16) and the corresponding caster (28, 29) when the wheel (10) goes from resting on the ground on a cup (15, 16) at the edge of the opening to resting on the ground on the corresponding caster (28, 29). |
