| 摘要 |
An omnidirectional wheel including a rim with at least one plate member and a means of attaching the wheel to a vehicle; a plurality of rollers comprising at least two toroidal rows of rollers disposed around the rim for mounting a tire; and a means of actuating the tire around its axis, defined, for example, by the never-ending torus axial member of the tire, whereby, when the wheel is engaging the ground, the tire rolling on the rim causes a side movement of the wheel, parallel to the wheel axis, in a plan orthogonal to the normal plan of rotation of the wheel when attached to the vehicle. A tire having a never-ending torus axial member, a helical bearing member, and a resilient toroidal shape is also provided. |
| 主权项 |
1. An omnidirectional wheel, comprising:
a) a rim, having at least one plate member, and a means for attaching the rim to a vehicle; b) a plurality of rollers, comprising at least two toroidal rows of rollers disposed around an outer circumference of the rim, the rows being arranged in a mutually opposing relationship and being connected to the rim for mounting a tire, the rollers having a perpendicular axis of rotation with respect to the axis of rotation of the wheel when attached to the vehicle, and which, when rotating on the rim, engages the tire mounted on the rollers for rotating the tire on the rim about the circumferential axis of the tire; and c) a tire, having a toroidal shape, for use with the omnidirectional wheel; whereby, when the wheel is engaging the ground, the tire rolling or rotating on the rim about the axis of the tire causes a sideways movement of the wheel, in a plan substantially orthogonal to the normal plan of rotation of the wheel when attached to the vehicle. |
