---
publication_id: "OT-2026-000000970"
title: "Wheel pair for a stable mechanism to propel a mating concave spherical surface along two axes of rotation"
published_at: "2026-09-15T19:03:40.264543Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000970"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j17/0275"
  - "b25j17/0275"
  - "b25j17/02"
  - "b25j9/06"
  - "b25j9/06"
  - "b25j9/06"
---

# Wheel pair for a stable mechanism to propel a mating concave spherical surface along two axes of rotation

## Abstract

A wheel pair for a stable mechanism to propel a mating concave spherical surface, each wheel having a center part rotatable around an axis and a plurality of surface engaging parts rotatably mounted on the center part about the periphery thereof. Each of the concave surface engaging parts is a roll having its surface convexly vaulted in longitudinal direction and being mounted with its axis extending obliquely with respect to the axis of rotation of the center part. The angle between the axis of the rolls and the axis of rotation, along with the specific convex profile of the roll are selected so that the rolls make suitable and unbroken contact with the mating spherical surface.