A wheel of the present disclosure includes a barrel holder, barrel support shafts, barrels, and bearings. The barrel holder is rotationally driven. The barrel support shafts arranged on the circumference of the barrel holder at an angle to a rotation axis of the barrel holder. The barrels are barrel-shaped rotating bodies. The barrels are rotatably supported on the corresponding barrel support shafts, and outer surfaces of the barrels contact a surface on which the wheel travels as the barrel holder rotates. The bearing supports the retainer. A groove is formed at least in a region of the outer circumferential surface of the barrel support shaft extending in the axial direction and including a radially inner projected area of the retainer.

A wheel of the present disclosure includes a barrel holder, barrel support shafts, barrels, and bearings. The barrel holder is rotationally driven. The barrel support shafts arranged on the circumference of the barrel holder at an angle to a rotation axis of the barrel holder. The barrels are barrel-shaped rotating bodies. The barrels are rotatably supported on the corresponding barrel support shafts, and outer surfaces of the barrels contact a surface on which the wheel travels as the barrel holder rotates. The bearing supports the retainer. A groove is formed at least in a region of the outer circumferential surface of the barrel support shaft extending in the axial direction and including a radially inner projected area of the retainer.

A driving assembly and a transfer device to allow an adjustable length of wheelbase for varying sizes of loads comprises a driving device, a driving wheel connected to the driving device rotatable by the driving device, a cantilever assembly comprising a cantilever configured for mounting to the bearing platform, and a driven wheel rotatably connected to one end of the cantilever. The other end of the cantilever is detachably connected to a fixed part of the driving device. The transfer device comprises a bearing platform and two driving assemblies.

A driving assembly and a transfer device to allow an adjustable length of wheelbase for varying sizes of loads comprises a driving device, a driving wheel connected to the driving device rotatable by the driving device, a cantilever assembly comprising a cantilever configured for mounting to the bearing platform, and a driven wheel rotatably connected to one end of the cantilever. The other end of the cantilever is detachably connected to a fixed part of the driving device. The transfer device comprises a bearing platform and two driving assemblies.

A delivery robot is provided for the delivery of home dialysis supplies to a home dwelling of a home dialysis patient. The delivery robot can be an autonomous delivery robot. The delivery robot can have an outdoor set of wheels or other traction devices, and an indoor set of wheels or other traction devices. The delivery robot can be configured to switch between an outdoor configuration for traversing an outdoor surface, and an indoor configuration for traversing an inside surface, inside the home of the home dialysis patient. A network is also provided and can include a robot delivery vehicle, a warehouse, a remote computer within the patient's home, or a combination thereof. Methods of delivering home dialysis supplies are also provided that utilize the delivery robot and network.

A delivery robot is provided for the delivery of home dialysis supplies to a home dwelling of a home dialysis patient. The delivery robot can be an autonomous delivery robot. The delivery robot can have an outdoor set of wheels or other traction devices, and an indoor set of wheels or other traction devices. The delivery robot can be configured to switch between an outdoor configuration for traversing an outdoor surface, and an indoor configuration for traversing an inside surface, inside the home of the home dialysis patient. A network is also provided and can include a robot delivery vehicle, a warehouse, a remote computer within the patient's home, or a combination thereof. Methods of delivering home dialysis supplies are also provided that utilize the delivery robot and network.

An omni-wheel may include a shaft, a plurality of rollers, and a braking device. The plurality of rollers may be circumferentially arranged about the shaft and arranged radially outward from the shaft. The braking device may include an at least one flexible clutch member, an at least one brake pad, and an actuator. The at least one flexible clutch member may have an outer diameter arranged about the shaft. The at least one brake pad may be arranged on the outer diameter of the at least one flexible clutch member. The actuator may be arranged to axially displace the at least one flexible clutch member. The at least one flexible clutch member may expand radially outward when axially displaced by the actuator, which may displace the at least one brake pad arranged on the outer diameter of the at least one flexible clutch member radially outward to contact at least one of the plurality of rollers, preventing rotation of the roller.

An omni-wheel may include a shaft, a plurality of rollers, and a braking device. The plurality of rollers may be circumferentially arranged about the shaft and arranged radially outward from the shaft. The braking device may include an at least one flexible clutch member, an at least one brake pad, and an actuator. The at least one flexible clutch member may have an outer diameter arranged about the shaft. The at least one brake pad may be arranged on the outer diameter of the at least one flexible clutch member. The actuator may be arranged to axially displace the at least one flexible clutch member. The at least one flexible clutch member may expand radially outward when axially displaced by the actuator, which may displace the at least one brake pad arranged on the outer diameter of the at least one flexible clutch member radially outward to contact at least one of the plurality of rollers, preventing rotation of the roller.

A robotic vehicle for traversing surfaces comprises a chassis having a plurality of wheels mounted thereto. Two magnetic drive wheels are spaced apart in a lateral direction and rotate about a rotational axis while a stabilizing wheel is provided in front of or behind the two drive wheels. The drive wheels are configured to be driven independently, thereby driving and steering the vehicle along the surface. The vehicle also includes a sensor probe assembly that is supported by the chassis and configured to take measurements of the surface being traversed. In accordance with a salient aspect, the vehicle includes a probe normalization mechanism that is configured to determine the surface curvature and adjust the orientation of the probe transducer as a function of the curvature of the surface, thereby maintaining the probe at the preferred inspection angle irrespective of changes in the surface curvature with vehicle movement.

An unmanned aerial vehicle (UAV) includes a body constructed to enable the UAV to fly and three or more legs connected to the body and configured to land and perch the UAV on a curved ferromagnetic surface. Each leg includes a first portion connected to the body, a second portion including a magnet and configured to magnetically attach and maintain the magnetic attachment of the leg to the ferromagnetic surface during the landing and perching, and a passive articulation joint connecting the first and second portions and configured to passively articulate the second portion with respect to the first portion in response to the second portion approaching the ferromagnetic surface. The UAV further includes a releasable crawler including magnetic wheels which detach the crawler from the body during the perching and maneuver the crawler on the ferromagnetic surface while magnetically attaching the crawler to the ferromagnetic surface after detachment.