An apparatus, system and method capable of providing a stabilizing drive system for a robotic vehicle. The apparatus, system and method may include at least a robot body base; at least two drive wheels within the robot body base; a processing system having non-transitory computing code associated therewith which, when executed by the processing system, causes to be driven the at least two drive wheels; and a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving.

An apparatus, system and method capable of providing a stabilizing drive system for a robotic vehicle. The apparatus, system and method may include at least a robot body base; at least two drive wheels within the robot body base; a processing system having non-transitory computing code associated therewith which, when executed by the processing system, causes to be driven the at least two drive wheels; and a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving.

Implementations relate to a spherical wheel drive and mounting. In some implementations, a wheel mechanism includes a spherical wheel, a base, and a rotary bearing coupled to the base and contacting a surface of the spherical wheel, where the rotary bearing configured to allow the spherical wheel to rotate. The wheel mechanism includes an omni wheel coupled to the base and engaged with a surface of the spherical wheel, and an actuator coupled to the base and to the omni wheel, where the actuator configured to rotate the omni wheel to cause rotation of the spherical wheel.

Implementations relate to a spherical wheel drive and mounting. In some implementations, a wheel mechanism includes a spherical wheel, a base, and a rotary bearing coupled to the base and contacting a surface of the spherical wheel, where the rotary bearing configured to allow the spherical wheel to rotate. The wheel mechanism includes an omni wheel coupled to the base and engaged with a surface of the spherical wheel, and an actuator coupled to the base and to the omni wheel, where the actuator configured to rotate the omni wheel to cause rotation of the spherical wheel.

Implementations relate to a brake mechanism for a spherical wheel. In some implementations, a wheel mechanism includes a spherical wheel and a base coupled to the spherical wheel via a rotary bearing contacting a surface of the spherical wheel, where the rotary bearing is configured to allow the spherical wheel to rotate. The wheel mechanism includes a brake ring coupled to the base and configured to selectively engage and disengage the surface of the spherical wheel, where the brake ring provides friction opposing rotation of the spherical wheel when engaged.

Implementations relate to a brake mechanism for a spherical wheel. In some implementations, a wheel mechanism includes a spherical wheel and a base coupled to the spherical wheel via a rotary bearing contacting a surface of the spherical wheel, where the rotary bearing is configured to allow the spherical wheel to rotate. The wheel mechanism includes a brake ring coupled to the base and configured to selectively engage and disengage the surface of the spherical wheel, where the brake ring provides friction opposing rotation of the spherical wheel when engaged.

An article movement system includes an article and at least one ball wheel. The article has first and second article surfaces meeting at a first article edge. The ball wheel is located along the first article edge and includes a ball, a bearing arrangement and a shell. The ball engages a surface underlying the article, the bearing arrangement supports the ball for omni-directional rotational movement, and the shell is located along the first article edge and contains the ball and the bearing arrangement. The shell defines a non-circular ball opening through which a portion of the ball extends to contact the underlying surface. The article, the bearing arrangement and the shell are configured such that the ball wheel is able to support the article for omni-directional rolling motion over the underlying surface with either of the first and article surfaces parallel thereto, and at any orientation therebetween.

An article movement system includes an article and at least one ball wheel. The article has first and second article surfaces meeting at a first article edge. The ball wheel is located along the first article edge and includes a ball, a bearing arrangement and a shell. The ball engages a surface underlying the article, the bearing arrangement supports the ball for omni-directional rotational movement, and the shell is located along the first article edge and contains the ball and the bearing arrangement. The shell defines a non-circular ball opening through which a portion of the ball extends to contact the underlying surface. The article, the bearing arrangement and the shell are configured such that the ball wheel is able to support the article for omni-directional rolling motion over the underlying surface with either of the first and article surfaces parallel thereto, and at any orientation therebetween.

A magnetically coupled ball drive system for actuation of spherical surfaces and wheels is disclosed. An internal support structure interacts with exterior drive wheels magnetically to produce rotational motion. A related improvement involving reduction of slip due to insufficient traction is also presented to establish a design for a more robust and versatile device that can be used in robotics or for producing vehicle locomotion.

A magnetically coupled ball drive system for actuation of spherical surfaces and wheels is disclosed. An internal support structure interacts with exterior drive wheels magnetically to produce rotational motion. A related improvement involving reduction of slip due to insufficient traction is also presented to establish a design for a more robust and versatile device that can be used in robotics or for producing vehicle locomotion.