Pendulum-Driven Unmanned Vehicle Compact Propulsion

The patent combines two independent rotational axles into a single shared axle structure. The left and right pendulum masses are mounted on the same axle, allowing both to rotate about it simultaneously. This merging eliminates the need for separate axles and reduces the hollow space required in the shell, directly resolving the packaging efficiency problem while maintaining full movement and steering capabilities.

The single shared axle serves multiple functions: it supports both left and right pendulum masses, enables forward/backward movement through coordinated rotation, and provides steering capability through differential rotation. This multi-functional design replaces what would traditionally require separate dedicated axles for each function, optimizing space utilization.

The patent employs asymmetric positioning of the left and right pendulum masses relative to the vehicle's center of mass. By placing them at different radial distances or angular positions, the system generates asymmetric torque distributions that can be controlled to achieve both high output torque and maintained stability through differential activation patterns.

The system dynamically adjusts the rotation angles and speeds of the left and right pendulum masses based on operational requirements. During high-torque operations, both masses rotate in the same direction; during steering, they rotate in opposite directions. This dynamic control allows the system to optimize the balance between torque generation and stability maintenance in real-time.