Omnidirectional propelled vehicle with minimal overall dimensions

A propelled vehicle (D) comprising:

• a. a chassis (C),
• b. a first shaft (A1) comprising a crown (K) that is rotationally symmetrical about a first axis (AX1), rotatably mounted on the chassis (C) so as to rotate about said first axis of rotation (AX1),
• c. a first drive system (E1) connected to the first shaft (A1) and capable of rotating the first shaft about the first axis of rotation (AX1),
• d. a second shaft (A2) that is rotatably mounted on said first shaft (A1) so as to rotate about a second axis of rotation orthogonal to the first axis of rotation (AX1), the second shaft (A2) supported at two separate points (X1) and (X2) on said first shaft (A1), said points defining the second axis of rotation, and the second shaft supporting at least one propulsion unit (P) of said propelled vehicle (D), wherein the first shaft (A1) and the second shaft (A2) are configured to constrain movement of the propulsion unit (P) to a single plane during orientation changes to minimize the overall dimensions of the propelled vehicle, and
• e. a second drive system (E2) connected to said second shaft (A2) and capable of rotating the second shaft about the second axis of rotation.