Technology is provided for a double wishbone independent trailer suspension. The suspension includes a slider frame configured for attachment to a semi-trailer. The slider frame includes a longitudinal central beam and upper and lower clevis brackets located on opposite sides of the central beam. A pair of upper wishbones are attached to the upper clevis brackets and at least one air spring is positioned between the slider frame and each upper wishbone. A pair of lower wishbones are attached to the lower clevis brackets and a pair of spindles are each pivotably attached to a corresponding upper wishbone and a corresponding lower wishbone.

A dual-mode suspension system using hydraulic dampers is disclosed. One or more dampers on each side of the four-wheel suspension system are coupled to a respective damper on the other side via a damper valve. One or more leaf springs may be arranged between the leading links coupled to some of the dampers, and trailing links coupled to other of the dampers. The suspension system may advantageously engage, lock, or partially disengage the respective dampers connected by the valve on each side of the system. Manipulating the valve to control engagement of the dampers, which may depend on the speed and related issues, provides control over whether heave motions should be separated from roll. In another embodiment, one or more single or double acting hydraulic cylinders may be used to engage dampers.

A dual-mode suspension system using hydraulic dampers is disclosed. One or more dampers on each side of the four-wheel suspension system are coupled to a respective damper on the other side via a damper valve. One or more leaf springs may be arranged between the leading links coupled to some of the dampers, and trailing links coupled to other of the dampers. The suspension system may advantageously engage, lock, or partially disengage the respective dampers connected by the valve on each side of the system. Manipulating the valve to control engagement of the dampers, which may depend on the speed and related issues, provides control over whether heave motions should be separated from roll. In another embodiment, one or more single or double acting hydraulic cylinders may be used to engage dampers.

A robotic platform may include left and right platforms, a base platform, wheel assemblies, and a tilting suspension. The tilting suspension may include a tilt shaft coupled to the base platform, a crank, suspension arms, and a tilt assembly. The tilt shaft may extend along a substantially vertical tilt axis. The crank may extend substantially perpendicular to the tilt axis and may be coupled to the tilt shaft such that the crank at least partially rotates about the tilt axis along with the tilt shaft. The suspension arms may extend from the crank to the left and right platforms such that rotation of the crank about the tilt axis controls the tilt of the platforms. The tilt assembly may control rotation of the tilt shaft about the tilt axis to control the tilt of the left and right platforms. Various other systems are also disclosed.

A robotic platform may include left and right platforms, a base platform, wheel assemblies, and a tilting suspension. The tilting suspension may include a tilt shaft coupled to the base platform, a crank, suspension arms, and a tilt assembly. The tilt shaft may extend along a substantially vertical tilt axis. The crank may extend substantially perpendicular to the tilt axis and may be coupled to the tilt shaft such that the crank at least partially rotates about the tilt axis along with the tilt shaft. The suspension arms may extend from the crank to the left and right platforms such that rotation of the crank about the tilt axis controls the tilt of the platforms. The tilt assembly may control rotation of the tilt shaft about the tilt axis to control the tilt of the left and right platforms. Various other systems are also disclosed.

A method is provided for determining whether or not ground contact loss is imminent for a wheel of a vehicle, the vehicle including a vehicle body having a vertical extension in a vertical direction, the wheel being allowed to be subjected to a relative vertical displacement, in the vertical direction, in relation to the vehicle body, the vehicle further being such that a maximum value of a vertical displacement of the wheel relative to the vehicle body is limited to a relative vertical displacement limit, the method including determining an actual relative vertical displacement of the wheel relative to the vehicle body, determining a limit margin as the difference between the actual relative vertical displacement and the relative vertical position limit, and determining that ground contact loss is imminent for a wheel if the limit margin is within a predetermined vertical threshold range.

A method is provided for determining whether or not ground contact loss is imminent for a wheel of a vehicle, the vehicle including a vehicle body having a vertical extension in a vertical direction, the wheel being allowed to be subjected to a relative vertical displacement, in the vertical direction, in relation to the vehicle body, the vehicle further being such that a maximum value of a vertical displacement of the wheel relative to the vehicle body is limited to a relative vertical displacement limit, the method including determining an actual relative vertical displacement of the wheel relative to the vehicle body, determining a limit margin as the difference between the actual relative vertical displacement and the relative vertical position limit, and determining that ground contact loss is imminent for a wheel if the limit margin is within a predetermined vertical threshold range.

An axle arrangement for a motor vehicle includes two opposite wheel carriers which are connectable to a bodywork of the motor vehicle via links, and a transverse leaf spring which is connected to the two wheel carriers. The transverse leaf spring is manufactured as one piece from fiber-reinforced plastic, has at least two bands spaced apart from one another and is at least partially integrated in a shear field. The shear field extends between the two wheel carriers and on both sides is connected fixedly to the body or the bodywork of the vehicle and projects beyond the transverse leaf spring, as viewed in the longitudinal direction of the vehicle.

A vehicle suspension arrangement includes mounting brackets configured to couple to a vehicle frame assembly, trailing arms coupled to the mounting brackets, a first axle member coupled to the trailing arms, an air spring arrangement coupled to the vehicle frame assembly and one of the trailing arms, and an air spring arrangement, wherein the first end, the second end and the air spring arrangement cooperate to define an interior space, a second axle member spaced from the first axle member, a sensor arrangement position within the interior space and configured to sense an operational parameter of the air spring arrangement, and a control arrangement operably coupled to the sensor arrangement and configured to receive information from the first sensor arrangement, wherein the control arrangement is configured to control at least one operational characteristic of the second axle member based upon the information received from the sensor arrangement.

A vehicle suspension arrangement includes mounting brackets configured to couple to a vehicle frame assembly, trailing arms coupled to the mounting brackets, a first axle member coupled to the trailing arms, an air spring arrangement coupled to the vehicle frame assembly and one of the trailing arms, and an air spring arrangement, wherein the first end, the second end and the air spring arrangement cooperate to define an interior space, a second axle member spaced from the first axle member, a sensor arrangement position within the interior space and configured to sense an operational parameter of the air spring arrangement, and a control arrangement operably coupled to the sensor arrangement and configured to receive information from the first sensor arrangement, wherein the control arrangement is configured to control at least one operational characteristic of the second axle member based upon the information received from the sensor arrangement.