Vehicle having an articulated suspension and method of using same

• US 20050023052A1
• Filed: 08/12/2003
• Published: 02/03/2005
• Est. Priority Date: 02/21/2003
• Status: Abandoned Application

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Tomlin, James E., Nimblett, Donald W., Conrad, Kevin L., Chun, Wendell H., Stinchcomb, Jon T., Beck, Michael S.
• Application Number:
  US10/639,278
• Publication Number:
  US 20050023052A1
• Time in Patent Office: Days
• US Class Current: 180/24.70
• CPC Class Codes: B60K 17/02 characterised by arrangement, location, or kind of clutch
• CPC Class Codes: B60K 17/046 with planetary gearing having orbital motion
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 2007/0038 the motor moving together with the wheel axle
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 7/00 Disposition of motor in, or adjacent to, traction wheel roller-skate driving mechanisms A63C17/12
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60K 7/0015 the motor being hydraulic
• CPC Class Codes: B60K 7/0023 the motor being pneumatic
• CPC Class Codes: B60T 1/062 acting on transmission parts
• CPC Class Codes: B62D 49/002 characterised by being of the low ground pressure type
• CPC Class Codes: B62D 61/10 with more than four wheels tractors of the low ground pressure type B62D49/002
• CPC Class Codes: B62D 61/12 with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels for manoeuvring purposes only B60S
• CPC Class Codes: B64G 1/16 Extraterrestrial cars

Abstract

A vehicle includes a chassis and a plurality of wheel assemblies articulated with the chassis, each of the plurality of wheel assemblies comprising a rotatable wheel spaced away from the chassis. A vehicle includes a chassis and an articulated suspension system mounted to the chassis. A method includes comprising articulating at least one of a plurality of wheel assemblies with a chassis, each of the wheel assemblies including a rotatable wheel spaced apart from the chassis. A vehicle includes a chassis and articulatable means for rolling the chassis along a path.

Claims

1. A vehicle, comprising:

a chassis; and

a plurality of wheel assemblies articulated with the chassis, each of the plurality of wheel assemblies comprising a rotatable wheel spaced away from the chassis.

2. A vehicle, according to claim 1, wherein each of the plurality of wheel assemblies further comprises a shoulder joint for rotatably joining the wheel assembly to the chassis.

3. A vehicle, according to claim 1, wherein each of the plurality of wheel assemblies further comprises a hub drive for rotating the wheel thereof.

4. A vehicle, according to claim 3, wherein each of the hub drives comprises one of a direct-drive motor, a servo motor, a motor-driven gear set, an engine-driven gear set, and a rotary actuator.

5. A vehicle, according to claim 3, further comprising a power source for supplying power to the hub drives.

6. A vehicle, according to claim 1, wherein each of the plurality of wheel assemblies further comprises a suspension arm having a first end rotatably coupled with the chassis and a second end rotatably coupled with the wheel thereof.

7. A vehicle, according to claim 1, further comprising a plurality of shoulder drives for articulating the plurality of wheel assemblies with the chassis.

8. A vehicle, according to claim 7, wherein each of the shoulder drives comprises one of a direct-drive motor, a servo motor, a motor-driven gear set, an engine-driven gear set, and a rotary actuator.

9. A vehicle, according to claim 7, wherein each of the shoulder drives is mechanically independent.

10. A vehicle, according to claim 7, wherein at least two of the shoulder drives are components of a power transmission system.

11. A vehicle, according to claim 7, further comprising a power source for supplying power to the shoulder drives.

12. A vehicle, according to claim 1, wherein each of the plurality of wheel assemblies is independently articulated with the chassis.

13. A vehicle, according to claim 1, wherein the chassis is adapted for at least one of carrying cargo, carrying personnel, deploying armaments, and performing reconnaissance tasks.

14. A vehicle, according to claim 1, wherein each of the wheels further comprises a rim and a tire mounted to the rim.

15. A vehicle, according to claim 14, wherein at least one of the tires comprises one of a pneumatic tire, a semi-pneumatic tire, and a solid tire.

16. A vehicle, according to claim 1, wherein at least one of the plurality of wheel assemblies is capable of being articulated with the chassis through at least one revolution.

17. A vehicle, according to claim 1, wherein vehicle is capable of changing the spatial attitude of the chassis by articulating at least one of the plurality of wheel assemblies with the chassis.

18. A vehicle, according to claim 1, wherein the vehicle is capable of lowering a portion of the chassis to a surface by rotating at least one wheel assembly, such that the wheel thereof is spaced away from the surface.

19. A vehicle, according to claim 1, wherein a first group of the plurality of wheel assemblies is articulated with a first side of the chassis and a second group of the plurality of wheel assemblies is articulated with a second side of the chassis.

20. A vehicle, according to claim 19, wherein the vehicle is capable of traversing along a nonlinear path by changing a speed of the wheels of the first group relative to the speed of the wheels of the second group.

21. A vehicle, according to claim 1, wherein at least one of the plurality of wheel assemblies capable of being positioned as an outrigger.

22. A vehicle, according to claim 1, wherein the plurality of wheel assemblies is capable of articulating with respect to the chassis to adjust a distance between the chassis and a surface on which the plurality of wheel assemblies rest.

23. A vehicle, according to claim 1, wherein the vehicle is capable of traversing an obstacle having a height greater than about the radius of one of the wheels.

24. A vehicle, according to claim 1, wherein the vehicle is capable of traversing an obstacle having a height greater than about the radius of one of the wheels plus the distance the wheel is spaced away from the chassis.

25. A vehicle, according to claim 1, wherein the vehicle is capable of lifting at least one of the wheel assemblies off a surface by articulating at least some of the other wheel assemblies.

26. A vehicle, according to claim 1, wherein the vehicle is capable of traveling across a surface by contacting and rotating only some of the plurality of wheels with respect to the surface.

27. A vehicle, according to claim 1, wherein the vehicle is capable of moving through a crevice defined by a first surface and a second surface, such that at least one of the wheels is in contact with the first surface and at least two wheels are in contact with the second surface.

28. A vehicle, according to claim 1, wherein the wheel assemblies are capable of being articulated with the chassis such that the chassis is inclined to an obstacle.

29. A vehicle, according to claim 1, wherein the chassis further comprises treads for use by personnel.

30. A vehicle, according to claim 1, wherein the vehicle is capable of rotating at least one wheel assembly away from a surface over which the vehicle travels.

31. A vehicle, according to claim 1, wherein the vehicle is capable of allowing at least one wheel assembly to rotate freely with respect to the chassis.

32. A vehicle, according to claim 1, wherein the plurality of wheel assemblies are capable of being asymmetrically rotated with respect to the chassis to inhibit the vehicle from rolling over.

33. A vehicle, according to claim 1, wherein the plurality of wheel assemblies are capable of being rotated such that the chassis is substantially inverted.

34. A vehicle, according to claim 1, wherein the plurality of wheel assemblies are capable of being rotated such that the chassis is lowered toward a surface on which the vehicle is disposed to reduce a presented area of the vehicle.

35. A vehicle, according to claim 1, wherein the vehicle is capable of lifting some of the plurality of wheel assemblies above the surface on which the vehicle is disposed to decrease a footprint thereof.

36. A vehicle, according to claim 1, wherein the plurality of wheel assemblies are capable of being rotated away from a surface over which the vehicle travels, such that the chassis contacts the surface to brake the vehicle.

37. A vehicle, according to claim 1, wherein the wheel assemblies are articulated with the chassis independent of wheel rotation.

38. A vehicle, according to claim 1, wherein the wheel assemblies are capable of being articulated such that the vehicle may be stacked on another vehicle.

39. A vehicle, comprising:

a chassis; and

an articulated suspension system mounted to the chassis.

40. A vehicle, according to claim 39, wherein the articulated suspension system comprises:

a plurality of suspension arms;

a plurality of driven shoulder joints rotatably joining the chassis and the plurality of suspension arms;

a plurality of wheels; and

a plurality of hub drives rotatably joining the plurality of wheels and the plurality of suspension arms.

41. A vehicle, according to claim 40, wherein each of the plurality of suspension arms are joined at a first end thereof to the chassis by one of the plurality of driven shoulder joints and each of the plurality of suspension arms are joined at a second end thereof to one of the plurality of wheels by one of the plurality of hub drives.

42. A vehicle, according to claim 40, wherein each of the hub drives comprises one of a direct-drive motor, a servo motor, a motor-driven gear set, an engine-driven gear set, and a rotary actuator.

43. A vehicle, according to claim 40, wherein each of the shoulder drives comprises one of a direct-drive motor, a servo motor, a motor-driven gear set, an engine-driven gear set, and a rotary actuator.

44. A vehicle, according to claim 40, wherein each of the plurality of suspension arms is independently rotatable with respect to the chassis.

45. A vehicle, according to claim 40, wherein at least one of the plurality of suspension arms is capable of being rotated with respect to the chassis through at least one revolution.

46. A vehicle, according to claim 40, wherein a first group of the plurality of suspension arms is rotatably joined with a first side of the chassis and a second group of the plurality of suspension arms is rotatably joined with a second side of the chassis.

47. A vehicle, according to claim 40, wherein the shoulder joints are rotatable independent of wheel rotation.

48. A method of operating a vehicle, comprising articulating at least one of a plurality of wheel assemblies with a chassis, each of the wheel assemblies including a rotatable wheel spaced apart from the chassis.

49. A method, according to claim 48, further comprising rotating at least some of a plurality of wheels of the plurality of wheel assemblies, such that the vehicle is propelled across a surface.

50. A method, according to claim 49, wherein rotating at least some of the plurality of wheels further comprises driving at least some of a plurality of hub drives.

51. A method, according to claim 49, wherein rotating at least some of the plurality of wheels further comprises changing a speed of at least some of the wheels of a first group of the plurality of wheel assemblies relative to a speed of the wheels of at least some of a second group of the plurality of wheel assemblies.

52. A method, according to claim 49, further comprising traversing an obstacle having a height greater than about the radius of one of the plurality of wheels.

53. A method, according to claim 49, further comprising traversing an obstacle having a height greater than about the radius of one of the plurality of wheels plus a distance the wheel is spaced away from the chassis.

54. A method, according to claim 49, further comprising:

contacting a first group of the wheels with a first surface;

contacting a second group of the wheels with a second surface, the first surface and the second surface defining a crevice;

rotating the first and second group of wheels to move the vehicle through the crevice.

55. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises driving at least one of a plurality of shoulder joints.

56. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises independently articulating the at least one of the plurality of wheel assemblies with the chassis.

57. A method, according to claim 48, further comprising at least one of carrying cargo, carrying personnel, deploying armaments, and performing reconnaissance tasks with the vehicle.

58. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises articulating the at least one of the plurality of wheel assemblies with the chassis through at least one revolution.

59. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises changing a height of the chassis.

60. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises changing a spatial attitude of the chassis.

61. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises lowering a portion of the chassis to a surface.

62. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises positioning the at least one of the plurality of wheel assemblies as an outrigger.

63. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises spacing the wheel of the at least one of the plurality of wheels from a surface.

64. A method, according to claim 48, further comprising articulating a first group of the plurality of wheel assemblies to lift a second group of the plurality of wheel assemblies from a surface.

65. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises inclining the chassis to an obstacle.

66. A method, according to claim 48, further comprising allowing at least one of the plurality of wheel assemblies to rotate freely with respect to the chassis.

67. A method, according to claim 48, further comprising rotating a failed wheel assembly of the plurality of wheel assemblies such that the wheel thereof is spaced away from a surface.

68. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises asymmetrically articulating the plurality of wheel assemblies to inhibit the vehicle from turning over.

69. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises articulating the plurality of wheel assemblies such that the chassis is substantially inverted.

70. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises articulating the plurality of wheel assemblies such that the chassis is lowered toward a surface on which the vehicle is disposed to reduce a presented area of the vehicle.

71. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises articulating at least some of the plurality of wheel assemblies above a surface on which the vehicle is disposed to decrease a footprint thereof.

72. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises articulating the plurality of wheel assemblies away from a surface over which the vehicle travels, such that the chassis contacts the surface to brake the vehicle.

73. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises articulating the plurality of wheel assemblies independently of wheel rotation.

74. A method, according to claim 48, wherein articulating at least one of the plurality of wheel assemblies further comprises articulating the plurality of wheel assemblies such that the vehicle may be stacked on another vehicle.

75. A vehicle, comprising:

a chassis; and

articulatable means for rolling the chassis along a path.

76. A vehicle, according to claim 75, wherein the articulatable means for rolling the chassis further comprises an articulated suspension system.

77. A vehicle, according to claim 76, wherein the articulated suspension system further comprises:

a plurality of suspension arms;

a plurality of driven shoulder joints rotatably joining the chassis and the plurality of suspension arms;

a plurality of wheels; and

a plurality of hub drives rotatably joining the plurality of wheels and the plurality of suspension arms.