---
publication_id: "OT-2026-000002877"
title: "Robot wheel driving apparatus"
published_at: "2026-09-15T19:15:56.184153Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002877"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j5/007"
  - "b62d25/16"
  - "h02k11/215"
  - "h02k11/215"
  - "h02k11/215"
  - "b60b19/006"
---

# Robot wheel driving apparatus

## Abstract

A robot wheel driving apparatus includes a wheel configured to rotate to drive a robot, a motor housing positioned inside the wheel, a motor including a stator and a rotor configured to rotate about the stator to transmit a rotating force to the wheel, a sensor magnet connected to the rotor, and an encoder sensor configured to receive a change in a magnetic field caused by rotation of the sensor magnet to detect a rotation angle of the rotor. A first set distance is maintained between the sensor magnet and the encoder sensor.