Omni-directional wheel for vehicle, has secondary wheels supporting eccentric wheel, which rotates about eccentric axis at distance to rotation axis of omni-directional wheel and is defined by reuleaux-polygon

摘要

The wheel (1) has secondary wheels (21-23,21'-23') supporting an eccentric wheel (2,2'). The wheel (2,2') rotates about the eccentric axis (20,20') at a distance to the rotation axis of the omni-directional wheel and is defined by reuleaux-polygon, whose central point is concentric with the axis (20-,20') of the wheel (2,2'), whose outer circumference forms the circumference line of the wheel (1).