| 摘要 |
A self-propelled carriage (10a) in which a spherical drive module (10) is mounted on the bottom of a carriage frame (11) via a suspension mechanism (12), wherein the spherical drive module (10) is provided with: a sphere (14); first and second drive wheels (15, 16) in contact with the sphere (14) from X- and Y-axis directions; first and second free ball bearing mechanisms (17, 18) located on the sides opposite from the first and second drive wheels (15, 16), the first and second free ball bearing mechanisms (17, 18) receiving reactive force from the first and second drive wheels (15, 16); a third free ball bearing mechanism (19) positioned on top of the sphere (14), the third free ball bearing mechanism (19) receiving the load exerted on the sphere (14); and a pedestal (20) for supporting these components. |
