A suspension system for a vehicle is disclosed. In some embodiments, the suspension system includes a wheel arch. In some embodiments, a wheel arch includes a gear track. In some embodiments, a wheel axle is coupled to a first and a second end of the wheel arch. In some embodiments, a steradian shaped wheel is mounted on the wheel axle. In some embodiments, a motor frame is coupled to a chassis of the vehicle. In some embodiments, the motor frame includes a lean motor configured to engage with the gear track. In some embodiments, actuation of the lean motor causes the wheel arch to rotate along an axis perpendicular to the longitudinal axis of the vehicle to create a change in a camber angle of the wheel.

A mechanics creeper that is strapped to the user using a back pack type harness. The present technology pertains to equipment for a mechanic. Also, the type of wheels used allows it to roll through debris without obstruction. In particular, but not by way of limitation, the present technology provides systems for mechanics to easily do work underneath a vehicle or machine using a mechanics creeper. Furthermore, embodiments of the present technology allow for a mechanics creeper that is easy for a user to transport and store.

An electric vehicle has a structure mounted on balls which are arranged for rolling on the ground, wherein an actuating roller is associated with each ball. The roller-supporting structure is rotatably mounted about a substantially vertical axis within a main supporting structure which is rigidly connected to the ball-supporting member. The main support structure carries a first electric motor for controlling the rotation of the roller-supporting structure about the substantially vertical axis, while the roller-supporting structure carries a second electric motor for controlling the rotation of the roller about its axis.

Holonomic bases, and drive shafts and roller assemblies that can be used in the holonomic bases. In some implementations, a holonomic base includes at least two pairs of roller assemblies, with each of the pairs being coupled to a corresponding drive shaft. In some of those implementations, each of the roller assemblies of each pair includes three roller segments that are each coupled to the corresponding drive shaft and that each include an exposed outward facing spherical zone that approximates a portion of the surface of a sphere. The roller segments of each roller assembly are in fixed relation to one another relative to the rotational axis of a drive shaft to which the roller assembly is coupled, but the roller segments each freely rotate about a corresponding roller segment rotational axis that extends outward from the drive shaft.

Holonomic bases, and drive shafts and roller assemblies that can be used in the holonomic bases. In some implementations, a holonomic base includes at least two pairs of roller assemblies, with each of the pairs being coupled to a corresponding drive shaft. In some of those implementations, each of the roller assemblies of each pair includes three roller segments that are each coupled to the corresponding drive shaft and that each include an exposed outward facing spherical zone that approximates a portion of the surface of a sphere. The roller segments of each roller assembly are in fixed relation to one another relative to the rotational axis of a drive shaft to which the roller assembly is coupled, but the roller segments each freely rotate about a corresponding roller segment rotational axis that extends outward from the drive shaft.

A propulsion apparatus and corresponding methods are provided. The apparatus employs weights within a spherical assembly that can rotate within the spherical assembly. Gravity, acting on the weights, causes a moment of a gravitational force to be applied to the spherical assembly, which can cause the spherical assembly to propel. The spherical assembly may also include one or more motors to rotate the weights within the spherical assembly. In some embodiments, the weights include magnetic cores and conductors. The apparatus can include magnetic windings that provide a magnetic flux through which the weights may rotate. The apparatus can also provide an electrical current to the conductors. As the weights with the magnetic cores rotate through the magnetic flux, the apparatus applies a current to the conductors. As such, a magnetic force is applied to the weights, which can propel the spherical assembly.

A propulsion apparatus and corresponding methods are provided. The apparatus employs weights within a spherical assembly that can rotate within the spherical assembly. Gravity, acting on the weights, causes a moment of a gravitational force to be applied to the spherical assembly, which can cause the spherical assembly to propel. The spherical assembly may also include one or more motors to rotate the weights within the spherical assembly. In some embodiments, the weights include magnetic cores and conductors. The apparatus can include magnetic windings that provide a magnetic flux through which the weights may rotate. The apparatus can also provide an electrical current to the conductors. As the weights with the magnetic cores rotate through the magnetic flux, the apparatus applies a current to the conductors. As such, a magnetic force is applied to the weights, which can propel the spherical assembly.

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.

The present invention relates to an omnidirectionally moving wheel and a robot using the same, and the omnidirectionally moving wheel comprises: a cylindrical body of which both ends are opened; inner wheels, each of which have at least a part accommodated in the body, and which are respectively fixed at the both open ends of the body so as to rotate around a first rotating axis; an outer wheel provided on the outside of the body and rotating around a second rotating axis, which intersects the first rotating axis, wherein the outermost points of the inner wheels and the outer wheel are formed at the same distance from the center of the body.

The present invention relates to an omnidirectionally moving wheel and a robot using the same, and the omnidirectionally moving wheel comprises: a cylindrical body of which both ends are opened; inner wheels, each of which have at least a part accommodated in the body, and which are respectively fixed at the both open ends of the body so as to rotate around a first rotating axis; an outer wheel provided on the outside of the body and rotating around a second rotating axis, which intersects the first rotating axis, wherein the outermost points of the inner wheels and the outer wheel are formed at the same distance from the center of the body.