| 摘要 |
A drive mechanism is provided for omnidirectional and holonomic motion control of a vehicle. The drive mechanism may be used in a wide variety of applications where omnidirectional vehicles are advantageous, such as forklifts, aircraft maintenance platforms, robotic systems, wheelchairs, and recreational vehicles. The drive mechanism includes at least one wheel assembly rotatably coupled to a vehicle chassis, the wheel assembly including at least two wheels coupled to a wheel assembly chassis. The drive mechanism further includes a wheel constraint module configured to control the orientation of the wheels and a power module configured to rotate the wheel assembly. Vehicle motion may be controlled by actuation of the wheel constraint and power modules.
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