Modular Metamorphic Vehicle

Abstract

A vehicle comprising a vehicle body, a suspension system coupled to the vehicle body, and a plurality of wheels coupled to the suspension system comprising at least one pair of wheels, each wheel of the at least one pair of wheels being located on opposite sides of the vehicle. The suspension system comprises a changeable wheel track width for the at least one pair of wheels and the wheel track width is changeable between a narrow wheel track width setting and a wide wheel track width setting by pivoting a suspension link about a vertical axis.

1 . A suspension system for a vehicle having a body, comprising:
 a plurality of wheels couplable to the vehicle and comprising at least one pair of wheels, each wheel of the at least one pair of wheels positionable on opposite sides of the vehicle;   a changeable wheel track width for the at least one pair of wheels;   wherein the changeable wheel track width comprises at least a narrow wheel track width setting and a wide wheel track width setting; and   wherein the wheel track width is changeable between the narrow wheel track width setting and the wide wheel track width setting by pivoting a suspension link about a vertical axis.   
     
     
         2 . The system of  claim 1 , wherein the narrow wheel track width setting is configured so that the wheels are able to travel a first suspended vertical distance. 
     
     
         3 . The system of  claim 2 , wherein the wide wheel track width setting is configured so that the wheels extend to at least partially clear the vehicle body to permit the wheels to travel a second suspended vertical distance. 
     
     
         4 . The system of  claim 3 , wherein the second suspended vertical distance is greater than the first suspended vertical distance. 
     
     
         5 . The system of  claim 1 , wherein the suspension link is at least one of a trailing and leading suspension arm. 
     
     
         6 . The system of  claim 1 , wherein the suspension link is configured to attach to the vehicle by pivoting about an axis which moves with suspension vertical displacement so that spurious vertical force resultant from wheel tractive force and angular arm position relative to the ground plane is minimized. 
     
     
         7 . The system of  claim 6 , wherein the suspension link is configured to be constrained in motion. 
     
     
         8 . The system of  claim 1 , wherein the changeable wheel track width is held in the narrow wheel track width setting and the wide wheel track width setting by links driven by actuators. 
     
     
         9 . The system of  claim 8 , wherein the changeable wheel track width is held in the narrow wheel track width setting and the wide wheel track width setting by actuators moving the links directly, and wherein mechanical lock mechanisms are used to lock the links in the narrow wheel track width setting and the wide wheel track width setting. 
     
     
         10 . The system of  claim 9 , wherein the force utilized to change wheel track width is reduced by a combined use of a wheel steering mechanism and forward motion of the vehicle, so that during a track widening change the wheel steering mechanism aligns the wheels outward and during a track narrowing change the wheel steering mechanism aligns the wheels inward. 
     
     
         11 . The system of  claim 1 , further comprising:
 a suspension arm comprising a first end and a second end;   a wheel attached at the first end of the arm by and assembly;   at least two links each comprising a first and second end having pivotable bearings at each end, the second ends of the at least two links coupled to the second end of the suspension arm;   wherein the first ends of the at least two links are configured to couple to a sprung mass of the vehicle; and   wherein a locus of a center of the wheels is constrained to a substantially vertical linear path over a range of suspension travel.   
     
     
         12 . A vehicle, comprising:
 a vehicle body;   a suspension system coupled to the vehicle body;   a plurality of wheels coupled to the suspension system comprising at least one pair of wheels, each wheel of the at least one pair of wheels being located on opposite sides of the vehicle;   wherein the suspension system comprises a changeable wheel track width for the at least one pair of wheels; and   wherein the wheel track width is changeable between a narrow wheel track width setting and a wide wheel track width setting by pivoting a suspension link about a vertical axis.   
     
     
         13 . The vehicle of  claim 12 , wherein the vehicle body is configured to be lowered between the wheels on opposite sides of the vehicle when the wheels are in the wide track width setting. 
     
     
         14 . The vehicle of  claim 12 , further comprising a wheel module comprising at least one wheel and at least one of an associated suspension assembly element, an associated wheel drive element, an associated wheel braking element, an associated wheel steering element, and an associated central tire inflation element. 
     
     
         15 . The system of  claim 12 , further comprising:
 a suspension arm comprising a first end and a second end;   a wheel attached at the first end of the arm by and assembly;   at least two links each comprising a first and second end having pivotable bearings at each end, the second ends of the at least two links coupled to the second end of the suspension arm;   wherein the first ends of the at least two links are configured to couple to a sprung mass of the vehicle; and   wherein a locus of a center of the wheels is constrained to a substantially vertical linear path over a range of suspension travel.   
     
     
         16 . A method of configuring a changeable wheel track width suspension system for a vehicle having a body, comprising:
 providing a plurality of wheels coupled to the suspension system, the plurality of wheels comprising at least one pair of wheels;   configuring each wheel of the at least one pair of wheels to be located on opposite sides of the vehicle;   providing a changeable wheel track width for the at least one pair of wheels, wherein the changeable wheel track width is configured to comprise a narrow wheel track width setting and a wide wheel track width setting; and   configuring the wheel track width to change width by pivoting of a suspension link about a vertical axis.   
     
     
         17 . The method of  claim 16 , further comprising a providing a vehicle coupled to the suspension system. 
     
     
         18 . The method of  claim 17 , further comprising configuring the narrow wheel track width setting so that the wheels are able to travel a first suspended vertical distance. 
     
     
         19 . The method of  claim 18 , further comprising configuring the wide wheel track width setting so that the wheels are able to travel a second suspended vertical distance. 
     
     
         20 . The method of  claim 19 , further comprising configuring the wheel track width settings so that the second suspended vertical distance is greater than the first suspended vertical distance. 
     
     
         21 . The method of  claim 17 , further comprising providing a motor dedicated to each wheel and used to drive the respective wheel. 
     
     
         22 . The method of  claim 21 , further comprising configuring the vehicle to be lowered between the wheels on opposite sides of the vehicle when the wheels are in the wide track width setting. 
     
     
         23 . A system for correcting vertical forces in vehicle suspensions, comprising:
 a suspension arm comprising a first end and a second end;   a wheel attached at the first end of the arm by an assembly;   at least two links each comprising a first and second end having pivotable bearings at each end, the second ends of the at least two links coupled to the second end of the suspension arm;   wherein the first ends of the at least two links are configured to couple to a sprung mass of a vehicle; and   wherein a locus of a center of the wheels is constrained to a substantially vertical linear path over a range of suspension travel.   
     
     
         24 . The system of  claim 23 , wherein the assembly comprises a rotatable axle shaft. 
     
     
         25 . The system of  claim 23 , wherein the assembly comprises a bearing assembly. 
     
     
         26 . The system of  claim 23 , wherein the system for correcting vertical forces in vehicle suspensions substantially approximates a Roberts' linkage. 
     
     
         27 . A vibration damping system for a vehicle, comprising:
 an unsprung vehicle mass; and   a tuned mass damper coupled to the unsprung vehicle mass and having a secondary mass, a spring, and a damper;   wherein the tuned mass pamper is tuned to dampen the amplitude of vibration of the unsprung mass.   
     
     
         28 . The system of  claim 27 , wherein the unsprung mass is a vehicle wheel assembly. 
     
     
         29 . The system of  claim 27 , wherein the tuned mass damper is tuned such that the secondary mass oscillates at approximately the natural frequency of the unsprung mass. 
     
     
         30 . The system of  claim 27 , wherein the tuned mass damper is tuned such that the secondary mass oscillates out of phase with respect to the unsprung mass.