A coupling structure of suspension may include an assist knuckle, a RevoKnuckle rotatably engaged with the assist knuckle, rotated independently from the assist knuckle, and performing steering of a wheel located at an outermost periphery, a steering input portion fixed to a vehicle body and applying a steering force to the RevoKnuckle during steering, a rotation transfer unit located between and coupled between the RevoKnuckle and the steering input portion and absorbing angular displacement formed between the steering input portion and the RevoKnuckle, a first link unit having one end located on one side surface of the assist knuckle and the other end located at a lower end of the RevoKnuckle, and a second link unit having one end located on the other side surface of the assist knuckle and the other end located adjacent to the other end of the first link unit at the lower end of the RevoKnuckle.

A hub carrier is provided having: a central part for carrying a hub for a wheel of a vehicle; an outer frame adapted to connect the hub carrier to a suspension of the vehicle; at least three spokes interposed between the central part and the outer frame, the at least three spokes being rigidly connected to the central part. The at least three spokes have respective end elements connected to the outer frame and provide respective sliding spherical hinges for the at least three spokes. The hub carrier further includes at least three sensors configured for detecting force and/or moment components acting on the hub.

A hub carrier is provided having: a central part for carrying a hub for a wheel of a vehicle; an outer frame adapted to connect the hub carrier to a suspension of the vehicle; at least three spokes interposed between the central part and the outer frame, the at least three spokes being rigidly connected to the central part. The at least three spokes have respective end elements connected to the outer frame and provide respective sliding spherical hinges for the at least three spokes. The hub carrier further includes at least three sensors configured for detecting force and/or moment components acting on the hub.

A suspension system for a wheel of a vehicle including: a wheel interface having a wheel interface axis which is an axis about which a wheel rotates when connected to the wheel interface; a first arm connected to the wheel interface and rotatable with respect to the wheel interface about a first axis that is substantially parallel to the wheel interface axis; and a second arm connected to the wheel interface and rotatable with respect to the wheel interface about a second axis that is substantially parallel to the wheel interface axis; and a damping and springing means disposed within a gap formed between the first arm and the second arm, the damping and springing means are connected at one of its ends to at least one of the first arm, the second arm and the wheel interface; wherein at least a portion of the suspension system is to be disposed within a rim of a wheel.

An autonomous tilting three-wheeled vehicle comprises a pair of front wheels coupled to a tiltable chassis by a mechanical linkage, such that the pair of wheels and the chassis are configured to tilt in unison with respect to a roll axis of the chassis. An electronic controller of the autonomous vehicle controls a tilt actuator to selectively tilt the chassis. Optionally, a steering actuator is coupled to the front wheels and controlled by the electronic controller to selectively steer the wheels. A sensor configured to measure orientation-dependent information may be coupled to the chassis by a gimbal configured to compensate for vehicle tilt. In some examples, the autonomous vehicle comprises an autonomous delivery robot.

A wheel module is disclosed. The wheel module according to the present embodiment includes a knuckle configured to rotatably support a wheel, a steering device including an actuator configured to rotate the knuckle and steer the wheel, and a reinforcing structure provided between the knuckle and a vehicle body, wherein an output shaft of the actuator is disposed parallel to a vertical direction, the reinforcing structure includes a first end rotatably connected to the knuckle along a first axis parallel to the vertical direction and a second end connected to the vehicle body, and a rotation axis of the output shaft and the first axis are coaxially provided.

Provided is a turning function-equipped having a reduced size and having improved strength to an external shock force and improved reliability. The turning function-equipped hub unit includes: a hub unit main body; a unit support member; and a turning actuator. The unit support member is provided to a chassis frame component. The unit support member includes an abutment part with which a part of the hub unit main body is brought into abutment in a vertical direction during non-normal time, the abutment part being separated from the hub unit main body in the vertical direction during normal time, and the non-normal time in which the abutment is caused, is a time when an impact load equal to or greater than a predetermined value acts on the hub unit main body in the vertical direction due to an external force from the wheel.

Provided is a turning function-equipped having a reduced size and having improved strength to an external shock force and improved reliability. The turning function-equipped hub unit includes: a hub unit main body; a unit support member; and a turning actuator. The unit support member is provided to a chassis frame component. The unit support member includes an abutment part with which a part of the hub unit main body is brought into abutment in a vertical direction during non-normal time, the abutment part being separated from the hub unit main body in the vertical direction during normal time, and the non-normal time in which the abutment is caused, is a time when an impact load equal to or greater than a predetermined value acts on the hub unit main body in the vertical direction due to an external force from the wheel.

A vehicle includes an assembly for providing suspension and steering for a wheel. The assembly includes an inner knuckle and a steering knuckle. The inner knuckle is coupled to an upper control arm at an upper joint and a lower control arm at a lower joint, forming a double wishbone suspension. The upper joint and the lower joint define a first axis. The steering knuckle is coupled to the inner knuckle at a steering joint that forms or otherwise defines a kingpin axis. The steering joint includes a revolute joint, a ball joint, or both. The steering knuckle is configured to be engaged with a tie-rod coupled to a steering mechanism. The kingpin axis is nearer a center of the wheel than the first axis, thus preventing or otherwise limiting torque steer. The upper and lower joints are constrained from significant steering rotation by suitable bushings, anti-steer arms, or both.

A vehicle includes an assembly for providing suspension and steering for a wheel. The assembly includes an inner knuckle and a steering knuckle. The inner knuckle is coupled to an upper control arm at an upper joint and a lower control arm at a lower joint, forming a double wishbone suspension. The upper joint and the lower joint define a first axis. The steering knuckle is coupled to the inner knuckle at a steering joint that forms or otherwise defines a kingpin axis. The steering joint includes a revolute joint, a ball joint, or both. The steering knuckle is configured to be engaged with a tie-rod coupled to a steering mechanism. The kingpin axis is nearer a center of the wheel than the first axis, thus preventing or otherwise limiting torque steer. The upper and lower joints are constrained from significant steering rotation by suitable bushings, anti-steer arms, or both.