| 摘要 |
PROBLEM TO BE SOLVED: To provide a spherical wheel capable of improving direct advance property.SOLUTION: A drive shaft 11 is rotated by drive force, thereby a rotation shaft 12 disposed to cross the drive shaft 11 is rotated around the drive shaft 11. A pair of hemispherical wheels 13, 14 capable of relatively rotating each other, around the rotation shaft 12, are disposed to sandwich the drive shaft 11. The hemispherical wheels 13, 14 are divided into plural wheel parts 13a, 13b, 14a, 14b which can relatively rotate each other, on a plane orthogonal to the rotation shaft 12. Inertia around the rotation shaft 12 of each of the wheel parts 13a, 13b, 14a, 14b can be reduced, relative to inertia of whole hemispherical wheels 13, 14, so that, an angular momentum of the hemispherical wheels 13, 14 which is proportional to the inertia can be reduced. Therefore, direct advance property of a spherical wheel 10 can be improved by suppressing affection of rotation (change of the angular momentum) of the hemispherical wheels 13, 14 to the spherical wheel 10 which is going to move by direct advance.SELECTED DRAWING: Figure 2 |
