A robot has a robot body on a frame structure, the robot body having at least one enclosed space to hold at least one delivery item. At least one sensing device detects objects along a direction of motion of said robot. The robot has six wheels, where at least two wheels on a side of the frame are connected to each other. The axis of rotation of each wheel is substantially fixed with respect to the robot during forward, rearward, and turning motion of the robot. During transition, via a substantially vertical obstacle, from a first substantially horizontally surface to a second substantially horizontally surface higher than the first substantially horizontally surface, one of the connected wheels causes an upward or a downward force to be applied to the other connected wheel.

Device and method for providing rotational power using power transmission are disclosed. The device enables multi-dimensional and angle-agnostic displacement of the rotational power output with respect to the input location and transference of high-torque and high-speed rotational movement, while preserving maximal efficiency and quick response. The device is a transmission gear that comprises at least two gear-links in a multi-link articulated gear (MLAG). Each of the links comprising at least two gear wheels. The transmission gear further comprising a common axis adapted to allow the links to rotate freely with respect to each other about the common axis and thus to allow change of the angle between the at least two links and thereby to change the distance between the input shaft and the output shaft.

The invention relates to an arrangement in a forestry machine (100), in which arrangement there is a chassis (12), a single-axle set of wheels (13) pivoted to the chassis (12), and at least one auxiliary wheel (18) fitted the outside the set of wheels (13), in order to increase the load-bearing capacity of the rear part (19) of the chassis (12). The arrangement further includes at least one support arm (20) arranged to carry the said auxiliary wheel (18) at its first end (22) and pivoted at its second end (24) to the said chassis (12) with the aid of a transverse shaft (23), a support surface (36) attached to the chassis (12) and a counter surface (38) attached to the said support arm (20), for limiting the transverse movement of the support arm (20). The invention also relates to a corresponding forestry machine.

The invention relates to an arrangement in a forestry machine (100), in which arrangement there is a chassis (12), a single-axle set of wheels (13) pivoted to the chassis (12), and at least one auxiliary wheel (18) fitted the outside the set of wheels (13), in order to increase the load-bearing capacity of the rear part (19) of the chassis (12). The arrangement further includes at least one support arm (20) arranged to carry the said auxiliary wheel (18) at its first end (22) and pivoted at its second end (24) to the said chassis (12) with the aid of a transverse shaft (23), a support surface (36) attached to the chassis (12) and a counter surface (38) attached to the said support arm (20), for limiting the transverse movement of the support arm (20). The invention also relates to a corresponding forestry machine.

A wheelchair of the mid-wheel drive type has a chassis frame, a pair of from and rear link arms that are pivotally connected to the chassis frame. Front caster wheels and drive wheels are fixed to the front link arms. Rear caster wheels are fixed to the rear link arms. A coupling operatively connects each front link arm to an adjacent rear link arm to transmit pivotal movement of one of the front and rear link arm to an opposite pivotal movement of the other of the front and rear link arm.

A wheelchair of the mid-wheel drive type has a chassis frame, a pair of from and rear link arms that are pivotally connected to the chassis frame. Front caster wheels and drive wheels are fixed to the front link arms. Rear caster wheels are fixed to the rear link arms. A coupling operatively connects each front link arm to an adjacent rear link arm to transmit pivotal movement of one of the front and rear link arm to an opposite pivotal movement of the other of the front and rear link arm.

To realize a six-wheeled vehicle that can move omni-directionally. A six-wheeled vehicle according to an embodiment of the present disclosure includes: a main body; middle wheels arranged on the left and right sides of the main body; front wheels arranged in front of the middle wheels; rear wheels arranged behind the middle wheels; and a drive mechanism configured to cause each of the middle wheels to turn about a steering axle extending in a vertical direction and to each of the middle wheels to rotate about a vehicle axle.