專利公告 Patents
輪腳複合式移動平台
刊登日期：2014/05/21
| ‧ 專利名稱 | 輪腳複合式移動平台 |
| ‧ 專利證書號 | I370796 US 8,307,923 |
| ‧ 專利權人 | 國立臺灣大學 |
| ‧ 專利國家 (申請日) |
中華民國 (2009/10/29) 美國 (2010/03/09) |
| ‧ 單位 | 機械工程學系 |
| ‧ 發明人 / PI | 林沛群,沈宣諭 , |
| ‧ 簡歷 / Experience |
技術摘要 / Our Technology：
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 translational degree of freedom, wherein the rotational degree of freedom and the 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 translational degree of freedom allows the hybrid leg-wheels translating relative to the driving axle, wherein the rotational direction is substantially perpendicular to the translational direction.
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 translational degree of freedom, wherein the rotational degree of freedom and the 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 translational degree of freedom allows the hybrid leg-wheels translating relative to the driving axle, wherein the rotational direction is substantially perpendicular to the translational direction.
聯繫方式 / Contact：
臺大產學合作總中心 / Center of Industry-Academia Collaboration, NTU
Email：ordiac@ntu.edu.tw
電話/Tel：02-3366-9945