Omni-directional, holonomic drive mechanism

#(1) Field of the Invention

#The present invention relates generally to omnidirectional vehicles and more particularly relates to a drive mechanism for an omnidirectional vehicle.

#(2) Background Information

#FIG. 1 is a schematic representation of one embodiment of the present invention;

#FIG. 2 is a perspective, partially schematic view of a portion of a second embodiment of the present invention;

#FIG. 3a is a top view of the embodiment of FIG. 2;

#Referring briefly to the accompanying figures, the present invention is directed to an omnidirectional, holonomic drive mechanism and/or vehicle. This invention may be well suited for many applications in which omnidirectional vehicles are potentially useful and/or advantageous. The ability to move in any direction or rotate within the perimeter of the vehicle is typically advantageous for any industrial or commercial vehicle that must be maneuvered within confined warehouse spaces, including forklifts, scissorlifts, aircraft support and maintenance platforms, motorized dollies, and delivery trucks. Omnidirectional capability is also typically desirable to wheelchair operators, enabling them to maneuver with relative freedom in confined spaces such as elevators. Additional exemplary applications to which this invention may be well suited include wide ranging industrial and military applications including industrial material handling vehicles, robotic systems, aircraft maintenance vehicles, recreational vehicles, and the like.

#As used herein the term “omnidirectional” refers to the ability to move in substantially any planar direction, i.e., side-to-side (lateral), forward/back, and rotational. These directions are generally referred to herein as x, y, and θz, respectively. The term “holonomic” is used in a manner substantially consistent with the literature use of the term and refers to the ability to move in a planar direction with three planar degrees of freedom, i.e., two translations and one rotation. Hence, as used herein, a holonomic vehicle has the ability to move in a planar direction at a velocity made up of substantially any proportion of the three planar velocities (forward/back, lateral, and rotational), as well as the ability to change these proportions in a substantially continuous manner.

#In general, the present invention includes a drive mechanism including at least one tracking device assembly rotatably coupled to a vehicle chassis. The drive mechanism further includes a power module for rotating the tracking device assembly. The tracking device assembly includes at least two tracking devices rotatably coupled to a tracking device assembly chassis. This embodiment further includes at least one tracking device constraint module configured to selectively control the orientation of the tracking devices so that transverse axes of the devices in each tracking device assembly intercept at a predetermined point. The velocity (i.e., speed and direction of motion) of the vehicle may be controlled by adjusting the position of the intercept point relative to the axis of rotation of the tracking device assembly chassis and by adjusting the velocity of rotation of the tracking device assembly.