| CPC B60G 17/0165 (2013.01) [B60L 15/20 (2013.01); B60G 2400/0511 (2013.01); B60G 2400/0512 (2013.01); B60G 2400/0513 (2013.01); G05D 1/021 (2013.01)] | 20 Claims |
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1. A driving apparatus comprising:
a body part;
driving parts configured to drive the body part along a driving route;
actuating parts configured to provide an actuation force to the driving parts to drive the body part; and
an information collection part configured to collect vibration information based on vibrations produced on the driving route according to driving of the driving parts, wherein the information collection part is configured to provide vibration cancellation information for canceling the vibrations produced on the driving route and a plurality of driving parts are provided on the body part and perform a first response operation in the body part to respond to the vibrations on the driving route on the basis of the vibration cancellation information, the vibration cancellation information being based on the vibration information, wherein each of the driving parts comprises an in-wheel motor module, a connection block, and a moving shaft unit that are configured to interwork with one another,
wherein the in-wheel module is directly connected to the connection block, the connection block surrounds the moving shaft unit, and the connection block is actuated upward and downward along the moving shaft unit by the actuation force of one of the actuating parts, and
wherein the moving shaft unit vertically moves the connection block based on the actuation force of the one of the actuating parts using a ball-screw mechanism.
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