A universal axle-hub assembly is provided for an off-road vehicle. The universal axle-hub assembly comprises a wheel hub that receives a constant velocity (CV) axle snout into an opening extending through an axle support of the wheel hub. An outboard-most portion of the opening is a splined portion that engages with similar splines disposed on an outboard-most portion of the CV axle snout. An inboard-most portion of the opening is a smooth portion that receives a smooth portion of the CV axle snout. The axle support extends through an entirety of the width of a bearing that supports the wheel hub, such that the bearing supports the smooth portion of the CV axle snout and substantially eliminates shear forces acting on the splined portion of the CV axle snout. A bearing carrier supports the bearing and may be fastened onto a trailing arm or a spindle of the off-road vehicle.

A method of controlling stability of a vehicle and a stability control system for the vehicle. A driver command is determined based on driver input data. At least one output command is sent to one or more vehicle systems to control stability of the vehicle based on the driver command. A controller sends the output command based on a control hierarchy that provides an order in which the controller controls body motion of the vehicle, wheel slip of the vehicle, and standard stability of the vehicle to control stability of the vehicle. The order dictates that the controller controls the body motion of the vehicle and the wheel slip of the vehicle before the controller controls the standard stability of the vehicle. A state of one or more of the vehicle systems is controlled based on the sent output command as dictated via the control hierarchy.

The present disclosure envisages an arrangement for mounting a powertrain of a four-wheeled vehicle of a body-on-frame type, wherein the powertrain is mounted on a chassis in an orientation transverse to the longitudinal axis of the vehicle. The mounting arrangement comprises a right-side powertrain mounting assembly 310 for supporting the powertrain 100 on the right-hand side, a left-side powertrain mounting assembly 320 for supporting the powertrain 100 on the left-hand side of the vehicle, and a powertrain roll-restricting and mounting assembly 330 for supporting the powertrain 100 on the rear side of the powertrain 100. The right-side powertrain mounting assembly 310 and the left-side powertrain mounting assembly 320 comprise a right isolating element 316 and a left isolating element 326 respectively, and the powertrain roll-restricting and mounting assembly 330 comprises a roll restricting and isolating element 334.

The present disclosure envisages an arrangement for mounting a powertrain of a four-wheeled vehicle of a body-on-frame type, wherein the powertrain is mounted on a chassis in an orientation transverse to the longitudinal axis of the vehicle. The mounting arrangement comprises a right-side powertrain mounting assembly 310 for supporting the powertrain 100 on the right-hand side, a left-side powertrain mounting assembly 320 for supporting the powertrain 100 on the left-hand side of the vehicle, and a powertrain roll-restricting and mounting assembly 330 for supporting the powertrain 100 on the rear side of the powertrain 100. The right-side powertrain mounting assembly 310 and the left-side powertrain mounting assembly 320 comprise a right isolating element 316 and a left isolating element 326 respectively, and the powertrain roll-restricting and mounting assembly 330 comprises a roll restricting and isolating element 334.

A suspension is provided for coupling a front wheel with a chassis of an off-road vehicle. The suspension comprises upper and lower suspension arms that each includes two inboard mounting points to the chassis and one outboard rod-end joint to a spindle assembly coupled with the front wheel. A ball comprising each outboard rod-end joint is fastened by way a bolt between a pair of parallel prongs extending from the spindle assembly. The upper suspension arm is configured to facilitate coupling a strut between the lower suspension arm and the chassis. A steering rod is coupled with the spindle assembly by way of a steering rod-end joint that is disposed forward of a drive axle, thereby decreasing leverage of the front wheel on the steering rod and substantially eliminating bump steer that may occur due to rough terrain.

A leading-edge steering system is provided for a front suspension of an off-road vehicle. The leading-edge steering system is comprised of a spindle assembly that supports a drive axle assembly to conduct torque from a transaxle to a front wheel. A first rod-end joint pivotally couples an upper suspension arm and the spindle assembly, and a second rod-end joint pivotally couples a lower suspension arm and the spindle assembly. A steering rod-end joint pivotally couples a first end of a steering rod with a leading-edge portion of the spindle assembly. A steering gear is coupled with a second end of the steering rod and configured to move the steering rod, such that the spindle assembly rotates with respect to the upper and lower suspension arms. The leading-edge portion is configured to exert primarily tensile forces on the steering rod during travel over rough terrain.

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.

Provided is a moving body capable of transmitting driving force of a drive unit to a spherical wheel without a separation between the spherical wheel and the drive unit even in the case where the moving body receives impact due to the road surface condition or the like. The moving body (10) is a self-sustained mobile robot. The moving body (10) includes a spherical wheel (21), a drive unit (22) which is in contact with the spherical wheel (21) to give a rotational driving force to the spherical wheel (21), a support (31) which supports the drive unit (22), and a biasing mechanism (41) which is suspended from the support (31) and abuts on the spherical wheel (21) to bias the spherical wheel (21) in a direction toward the support (31).

The application discloses a modular robotic vehicle or (MRV) including a chassis and body having any shape and dimension to include an enclosed cab in which passengers are seated therein or a passenger to ride on a seat without an enclosed cab. The vehicle's modular chassis further comprising leg array rotatably connected therein, the leg array including actuators causing flexing and bobbing motion for keeping the MRV stabilized when traversing over various ground surfaces in indoor or outdoor environments. The leg array providing walking and steering capability allowing the MRV to transverse during a navigation mode, the wheel providing differential steering propulsion or braking capability, such that the wheel operates like a foot when powered off during a walking mode and rotates when powered on during a drive mode, the MRV to transport passengers and/or cargo.