| 摘要 |
The invention provides for a multidireetional driving bali. The multidireetional driving bal! comprises a spherical bali adapted to rotate against a contact surface through a contaet point on a surface of the spherical bali. The sphericai bal! comprises a contaet plane being tangential with the spherical bali in the contact point. The multidirectional driving bali further comprises three or more support units each engaging a surface of the spherzcal ba wherein at east two of the three or more support unit are formed as drive units comprisirlg drive means, wherein the drive means drives the drive units to rotate the sphericai bal!. The multidirectional driving bali is characterised in that the two or more drive units are adapted to rotate the sphericai bal! around a rotational axis which is tilted in relation to the contaet plane. The invention further provides for a method for rotating a spherical ball of a multidirectional driving bal! to obtain a displacement between said spherical ban and a contact surface engaging a surface of said spherical bal! in a contact point.
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