| 摘要 |
A land based drone with at least one wheel 1,2 that can move forwards and backwards and can traverse uneven terrain due to actuated changes in its centre of gravity and multi segmented axle 5,6,7. The centre of gravity of the drone falls beneath the axle when at rest, is forward of the axle when the drone is moving forwards and is to the rear of the axle when moving backwards. The wheels have independent drive assemblies and can rotate in opposite directions to facilitate turning. The drone can dynamically sense changes in acceleration and rate of turn about three axes to enable it to maintain a desired heading and to enable it to adjust its centre of gravity so that it can climb a stair. The actuation of the articulated axle is carried out by means of pneumatic air muscles. The spokes of the wheels are sprung in the plane of the wheel to provide shock and vibration suspension. |
