A moving system includes a first driving wheel and a second driving wheel associated to a supporting structure and rotatable to move the system forward or backward on a supporting surface. The first and the second driving wheel each include a spherical portion, the first driving wheel being rotatable around a first rotation axis and the second driving wheel being rotatable around a second rotation axis. The moving system further includes an inclination system that varies the inclination of the first rotation axis of the first driving wheel and/or of the second rotation axis of the second driving wheel so as to vary the diameter of the rotation circumference formed by the points of contact with the ground.

Vehicles may be composed of a relatively few number of “modules” that are assembled together during a final assembly process. An example vehicle may include a body module, a first drive module coupled to a first end of the body module, and a second drive module coupled to a second end of the body module. One or both of the drive modules may include a pair of wheels, a battery, an electric drive motor, and/or a heating ventilation and air conditioning (HVAC) system. One or both of the drive modules may also include a crash structure to absorb impacts. If a component of a drive module fails or is damaged, the drive module can be quickly and easily replaced with a new drive module, minimizing vehicle down time.

Vehicles may be composed of a relatively few number of “modules” that are assembled together during a final assembly process. An example vehicle may include a body module, a first drive module coupled to a first end of the body module, and a second drive module coupled to a second end of the body module. One or both of the drive modules may include a pair of wheels, a battery, an electric drive motor, and/or a heating ventilation and air conditioning (HVAC) system. One or both of the drive modules may also include a crash structure to absorb impacts. If a component of a drive module fails or is damaged, the drive module can be quickly and easily replaced with a new drive module, minimizing vehicle down time.

A robotic vehicle can include a plurality of motors coupled to a plurality of gearboxes, each gearbox of the plurality of gearboxes configured to be rotated, a plurality of nested driveshafts coupled to the plurality of gearboxes and including at least a first driveshaft and a second driveshaft, and a plurality of appendages operably coupled to the plurality of gearboxes. A particular appendage of the plurality of appendages can be configured to be rotated in response to a rotational motion of the first driveshaft. The robotic vehicle can include a plurality of wheels coupled to the plurality of appendages and configured to rotate about a plurality of wheel axles. Each wheel of the plurality of wheels can be configured to cause the robotic vehicle to be transported across a contacting surface in response to the rotational motion of the second driveshaft.

A self-propelled platform for monitoring field crop phenotype is provided. The monitoring platform includes a traveling and steering mechanism, wheel track and ground clearance adjustment devices, damping devices, and a case. The traveling and steering mechanism includes wheel side motors, wheels, and torque motors. The wheels are connected to respective upright posts of the platform through respective rigid independent suspensions. Each upright post is of sleeve structure and includes an upper sleeve and a lower sleeve. A corresponding damping device is connected between the upper sleeve and the lower sleeve. The wheel track and ground clearance adjustment devices are configured for adjusting the height of the case and the tracks between the wheels. The lower ends of the wheel track and ground clearance adjustment devices are rotatably connected to respective upright posts, and the upper ends are rotatably connected to the case.

A modular chassis is provided for an off-road vehicle to improve assembly, servicing, and repairing of a drivetrain of the off-road vehicle. The modular chassis includes a chassis to support components of the off-road vehicle. A front frame module couples with a front of the chassis, and a rear frame module couples with a rear of the chassis. The front frame module supports lower suspension arms of the off-road vehicle by way of inboard bushing joints. The front frame module supports at least a steering gear and a front differential of the off-road vehicle. The rear frame module is a tube-frame structure that supports components of the off-road vehicle. A lower portion of the rear frame module extends rearward and acutely upward to a top frame member that couples with upper side portions of the chassis. Several cross-members impart structural integrity to the rear frame module.

An apparatus and methods are provided for a portal spindle assembly for a vehicle front suspension. The portal spindle assembly comprises a spindle portion that is rotatably coupled with upper and lower connecting arms. A leading-edge portion is rotatably coupled with a steering rod-end joint, such that moving the steering rod-end joint rotates the spindle assembly with respect to the upper and lower connecting arms. An inboard case and an outboard case support a pinion gear assembly that is meshed with an output gear assembly for communicating torque from a constant velocity joint to a front wheel coupled to the output gear assembly. The pinion gear assembly is aligned along a pinion axis disposed at an angle with respect to a hub axis of the output gear assembly. The angle facilitates a suspension geometry that provides a camber change of the front wheel that eliminates a change in track width.

A method for determining state values of a wheel (R) of a wheel drive module that includes the wheel (R), a speed modulation gearbox (G), a first electric motor (M1) and a second electric motor (M2), as well as at least one first sensor (S1) for sensing state values of the first electric motor (M1), at least one second sensor (S2) for sensing state values of the second electric motor (M2), wherein additional state value sources of the electric motors (M1, M2) and/or the wheel (R) are provided and the sensed state values are compared with each other in order to compensate for and to recognize errors in the sensing of the state values so that actual state values of the wheel (R) are determined from the individual sensed state values.

A method for determining state values of a wheel (R) of a wheel drive module that includes the wheel (R), a speed modulation gearbox (G), a first electric motor (M1) and a second electric motor (M2), as well as at least one first sensor (S1) for sensing state values of the first electric motor (M1), at least one second sensor (S2) for sensing state values of the second electric motor (M2), wherein additional state value sources of the electric motors (M1, M2) and/or the wheel (R) are provided and the sensed state values are compared with each other in order to compensate for and to recognize errors in the sensing of the state values so that actual state values of the wheel (R) are determined from the individual sensed state values.

The present disclosure generally relates to an omni-direction wheel system and methods for controlling the omni-direction wheel system. The omni-direction wheel system includes a plurality of suspension systems that operate independently of one another. Each suspension system may include an electromagnetic steering hub configured to rotate a wheel 360 degrees about a vertical axis based on a polarity of an electromagnetic signal applied to the electromagnetic steering hub. The suspension system may further include an in-wheel motor configured to rotate with the wheel and drive the wheel about a horizontal axis.