Title: Omni-directional transport device

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Abstract: An apparatus for producing or measuring omni-directional motion of the apparatus upon a relatively smooth but not necessarily planar surface and/or for producing or measuring omni-directional movement of the surface relative to the apparatus. The transport device includes a frame and at least two wheels having peripheral rollers. The wheels rotate about non-parallel axes. Any desired movement of the device relative to a given surface can be achieved by appropriate rotational inputs to the wheels. Movement of the device in all directions can be achieved without incurring significant sliding of the device relative to the surface. This relatively slip-free motion is achieved by means of the peripheral rollers which allow a given wheel to be moved in a direction parallel to its axis of rotation without sliding. In this manner motions of the device upon the surface are essentially completely reversible by merely applying a rotational input to the wheels opposite of the initial rotational input. Also, by the use of the independent drive motors on each wheel, the omni-directional transport device can execute any rotational movement about its central axis or any other axis perpendicular to the surface with respect to which the device moves. Additionally, rotational measurement sensors can be placed upon each wheel thereby providing means for measuring the movement of the device relative to a surface in contact with the rollers or the movement of such surface relative to the device.


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