| 摘要 |
A drive system base or platform, such as for a mobile robot, is disclosed having multiple caster wheels, each wheel having its own first motor for independent driving and its own second motor for independent steering. Each wheel is rotably and pivotably mounted in a separate wheel module, which includes both the driving and steering motors associated with the wheel. All of the wheel modules on the base are identical and interchangeable. The two motors of each module are mounted side by side in a vertical arrangement for compactness. Each wheel module includes a suspension for allowing each wheel to move vertically and independently relative to the base. The hub and tread of each wheel are each cast concentrically around a bevel drive gear in an offset manner to provide a wheel and bevel gear that turn more smoothly and precisely.
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