Drive wheel and cart

A drive wheel, comprising:

• a first input shaft and a second input shaft coaxially disposed;
• a first output shaft and a second output shaft independently and rotatably disposed on different axes;
• a first transmission mechanism that transmits rotational force of the first input shaft to the first output shaft;
• a second transmission mechanism that transmits rotational force of the second input shaft to the second output shaft;
• a wheel connected to an axle;
• a pivot shaft that supports the wheel in a pivotable manner via the axle;
• a first power conversion mechanism that transmits the rotational force of the first output shaft to one end portion of the axle;
• and
• a second power conversion mechanism that transmits the rotational force of the second output shaft to another end portion of the axle,
• a rotational axial center of the wheel along a vertical direction intersecting an axial center of the axle being arranged shifted in a horizontal direction orthogonal to the axial center of the axle with respect to an axial center of the pivot shaft, the rotational axial center being on a plane having the axial center of the pivot shaft and orthogonal to the axial center of the axle, wherein
• when a radius R1 of the wheel, center distance R2 between the rotational axial center and the axial center of the pivot shaft, rotational frequency n1 of the wheel, rotational frequency n2 of the pivot shaft, rotational speed V1 of the wheel, and steering rotational speed V2 of the wheel rolling on a floor surface while turning the pivot shaft satisfy V1=V2,
• relations of V1=2π×R1×n1, V2=2π×R2×n2, and n1=n2 (R2/R1) are satisfied,
• wherein a reduction ratio of the first power conversion mechanism and the second power conversion mechanism or a gear ratio of meshing gears of the first power conversion mechanism and the second power conversion mechanism is in a relation of (R2/R1)±10%.