Vehicle Having An Articulated Suspension And Method Of Using Same

• US 20070080001A1
• Filed: 12/12/2006
• Published: 04/12/2007
• Est. Priority Date: 02/21/2003
• Status: Active Grant

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Chun, Wendell, Beck, Michael, Stinchcomb, Jon, Tomlin, James, Conrad, Kevin, Nimblett, Donald
• Granted Patent: US 8,672,065 B2
• 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 including;

a rotatable wheel spaced away from the chassis and independently rotatable above the plane of the vehicle;

a shoulder joint for rotatably joining the wheel assembly to the chassis

wherein at least two of the shoulder joints defining an axis that is not aligned with the center of gravity for the vehicle.

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.

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

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

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

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.

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.

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.

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

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39. A vehicle, comprising:

a chassis; and

an articulated suspension system mounted to the chassis the articulated suspension system including elements that may be independently articulated wherein the articulated suspension system includes;

a plurality of suspension arms;

a plurality of driven shoulder joints rotatably joining the chassis and the plurality of suspension arms wherein at least two of the shoulder joints define an axis that is not aligned with the center of gravity for the vehicle;

a plurality of wheels rotatable above the plane of the vehicle by the shoulder joints; and

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

44. A vehicle, according to claim 39, wherein each of the elements is independently rotatable with respect to the chassis.

45. A vehicle, according to claim 39, wherein at least one of the plurality of elements is capable of being rotated with respect to the chassis through at least one revolution.

47. A vehicle, according to claim 39, wherein the shoulder joints are rotatable independent of wheel rotation.

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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 wheel spaced apart from the chassis and independently rotatable above the plane of the vehicle by a shoulder joint, wherein at least two of the shoulder joints define an axis that is not aligned with the center of gravity for the vehicle.

50. A method, according to claim 48, further comprising driving at least some of a plurality of hub drives.

51. A method, according to claim 48, further comprising 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.

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.

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.

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.

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.

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.

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78. A method for maneuvering a wheeled vehicle having an articulated suspension system, the method comprising:

articulating the suspension system such that a first wheel contacts a first surface;

articulating the suspension system such that a second wheel and a third wheel contact a second surface, the second surface opposing the first surface; and

driving the vehicle through the space defined by the opposing first and second surfaces.

79. The method of claim 78, further comprising articulating the suspension system to compensate for variations in the first and second surfaces as the vehicle is driven through the space.

80. A method for controlling a wheeled vehicle having an articulated suspension system, comprising articulating the suspension system to inhibit rollover of the vehicle.

81. The method of claim 80, wherein articulating the suspension includes asymmetrically articulating a plurality of wheel assemblies with respect to the chassis to inhibit the vehicle from rolling over.

82. The method of claim 80, wherein articulating the suspension includes positioning at least one wheel assembly as an outrigger.

83. A method for enhancing the survivability of a wheeled vehicle having an articulated suspension system, the method comprising articulating the suspension system to reduce the target detection area or the footprint of the vehicle.

84. The method of claim 83, wherein articulating the suspension system includes changing the spatial attitude of the vehicle'"'"'s chassis.

85. The method of claim 83, wherein articulating the suspension system includes articulating a wheel assembly with respect to the chassis to adjust a distance between the chassis and a surface on which the plurality of wheel assemblies rest.

86. The method of claim 83, wherein articulating the suspension system includes rotating a wheel assembly such that the chassis is lowered toward a surface on which the vehicle is disposed to reduce a presented area of the vehicle.

87. The method of claim 83, wherein articulating the suspension system includes lifting some of the plurality of wheel assemblies above the surface on which the vehicle is disposed to decrease a footprint thereof.

88. The method of claim 83, wherein articulating the suspension system includes lowering a portion of the chassis to a surface.

89. A method for use in transporting a wheeled vehicle having an articulated suspension system, the method comprising:

articulating the suspension system to a stacking position; and

stacking the vehicle on another vehicle.

90. A method for maneuvering a wheeled vehicle having an articulated suspension system, the method comprising articulating the wheels above the belly plane of vehicle'"'"'s chassis such that the chassis contacts the surface to brake the vehicle.