| 摘要 |
A column guided and supported self-propelled vehicle which is rigid in its pitch and roll axes but flexible in its yaw axis. The vehicle thus forms a beam between a series of columns which support and guide the vehicle. The vehicle is propelled by a flexible rotating screw which rotates against lugs which are mounted on each column. The vehicle is supported in the pitch axis and constrained in the roll axis by rollers, which are mounted on each column. A retainer on each column prevents the vehicle from leaving the column. The length of the vehicle determines the spacing of the columns. The vehicle is flexible in the yaw axis so that it can negotiate a curved path of columns.The vehicle car body/structure is modular and contains a series of vertical hinges or flexures which are located between each module to allow the vehicle freedom only in the yaw axis. Fixed to each module of the car body/structure are linear displacement components which determine the relative position of each module in order to align the vehicle when it is entering or leaving a curved path of columns. The linear displacement components receive positional information from the guidance and support columns.
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