Vehicle having an articulated suspension and method of using same

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.

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.