輪腳複合式移動平台

專利類型

發明

專利國別 (專利申請國家)

中華民國

專利申請案號

098136678

專利證號

I 370796

專利獲證名稱

輪腳複合式移動平台

專利所屬機關 (申請機關)

國立臺灣大學

獲證日期

2012/08/21

技術說明

一種移動平台，包括一本體、多個複合式輪腳以及多個驅動機構。複合式輪腳配置於本體的周圍，以帶動本體在一工作表面上移動。驅動機構分別配置於複合式輪腳與本體之間。每一驅動機構包括一驅動軸，連接所對應的複合式輪腳與本體。每一驅動機構對所對應的複合式輪腳提供相互獨立驅動的一轉動自由度以及一直線移動自由度。轉動自由度使複合式輪腳繞著驅動軸的軸向轉動，而直線移動自由度使複合式輪腳相對於驅動軸直線移動，且轉動方向實質上正交於直線移動方向。 A mobile platform including a body, hybrid leg-wheels and driving mechanisms is provided. The hybrid leg-wheels are disposed around the body for carrying the body moving on a working surface. The driving mechanisms are disposed between the corresponding hybrid leg-wheels and the body. Each driving mechanism includes a driving axle connecting the corresponding hybrid leg-wheels and the body. Each driving mechanism provides the corresponding hybrid leg-wheel a rotational degree of freedom and a linear translational degree of freedom, wherein the rotational degree of freedom and a linear translational degree of freedom are driven independently. The rotational degree of freedom allows the hybrid leg-wheels rotating along an axis of the driving axle, and the linear translational degree of freedom allows the hybrid leg-wheels translating with respect to the driving axle, wherein the rotational direction is substantially perpendicular to the translational direction.

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