The omnidirectional portable cars which utilize drive and this drive which can improve the operational ratio of steering environment and the power source which it stabilizes are offered. The omnidirectional portable cars body 6 and plural wheels have 4a - 4d, load steering possible drive among the plural wheels and concerning the wheel of 2 or more. Drive, the wheel the driver has with the output axis 3 which transmits torque of the driver to the wheel at the position where eccentricity it does from the medial axis of 2 where turns around the axis on the centerline of 4 which is supported in rotary unrestricted steering section 1 and the steering section and the steering section and the steering section. As for the driver, in the first drive section the second drive section 23 which is driven 22 which is driven to normal rotation direction and reversal direction is arranged on the same axis. The output axis the first output section 71 which receives the transmission of driving force from the first drive section and, converting the revolution of the second drive section, has with the second output section 72 which, receives the transmission of driving force is restrained by both output section, transmits the torque which at the same time is obtained from the output section to the wheel.安定した操舵環境と、動力源の運用率を向上させ得る駆動機構およびこの駆動機構を利用した全方向移動車を提供する。全方向移動車は、車体6と複数の車輪4a~4dを備え、複数の車輪のうち、2以上の車輪について、操舵可能な駆動機構を搭載する。駆動機構は、回転自在な操舵部1と、操舵部に支持される車輪4と、操舵部の中心線上の軸回りに回転する駆動体2と、操舵部の中心軸から偏心した位置で駆動体の回転力を車輪に伝達する出力軸3とを備える。駆動体は、正転方向に駆動される第一の駆動部22および逆転方向に駆動される第二の駆動部23が同軸上に配置される。出力軸は、第一の駆動部から駆動力の伝達を受ける第一の出力部71と、第二の駆動部の回転を変換して駆動力の伝達を受ける第二の出力部72とを備え、両出力部に拘束され、かつ出力部から得られる回転力を車輪に伝達する。
