The invention discloses a wheel rim drive-type omnidirectional wheel capable of measuring feedback by using
inductance angle displacement. The wheel rim drive-type omnidirectional wheel comprises a wheel shaft, a wheel, a reversing mechanism, a
rudder direction motor and an
inductance angle displacement sensor, wherein the wheel is sleeved on the wheel shaft; the reversing mechanism is connected with the wheel shaft; the
rudder direction motor is connected with a reversing mechanism; the
inductance angle displacement sensor is positioned on one side of the wheel and is connected with the reversing mechanism; the inductance angle displacement sensor comprises a shell, a sensor rotating shaft, a coil, a skeleton and a
magnetic core; the sensor rotating shaft runs through the two ends of the shell; the coil and the skeleton are positioned in the shell; the
magnetic core is connected with the sensor rotating shaft; the coil and the skeleton are sleeved on the sensor rotating shaft; the coil and the skeleton comprise two primary coils and two secondary coils; the outline of the
magnetic core consists of two symmetrical Archimedes spiral lines; when the magnetic core rotates, the length of the magnetic coil extending into the coil is changed along with the rotation and the
length change size is in direct proportion to the rotating angle; an output shaft of a
drive motor is coincident with the axis of the wheel, is connected with a wheel axle, and drives the wheel to rotate; and the
rudder direction motor is vertical to the axis of the wheel, is connected with the wheel axle through the reversing mechanism, and drives the wheel to change directions. The wheel rim drive-type omnidirectional wheel has a simple and compact structure and high measuring accuracy, and can control the wheel omnidirectionally.