An autonomous mobile robot may use an improved steering system. The improved steering system may include a steering motor that is operably coupled to a motor shaft. The motor shaft may be aligned at an offset position relative to a center axis of the autonomous mobile robot. The motor shaft may be operably coupled to a front and rear steering linkage. Each steering linkage may include a pitman arm that is coupled to the motor shaft and a drag link. The drag link may be coupled to a first steering arm and a tie rod. The tie rod may also be coupled to a second steering arm. The first steering arm may be coupled to a first wheel and the second steering arm may be coupled to a second wheel.

Provided is a power steering apparatus capable of reducing a maximumly generated stress on an output pulley. An output pulley of a power steering apparatus includes a fastening target portion around a screw insertion hole of a hub portion. When a boundary portion between the hub portion and a winding and hanging portion is defined to be a portion where a minor angle, among relative angles formed between a tangential line of an inner surface of the output pulley and a rotational axis of a nut in an axial cross section of the output pulley that passes through the rotational axis of the nut, gradually reduces from a nut-rotational-axis side toward a radially outer side to then reach 45 degrees, the fastening target portion is a region that is located on an inner side in a radial direction with respect to the boundary portion and overlaps a head portion of a screw in a radial direction of the screw.

Heat radiation base body 23 that is adjacent to electric motor unit EM and extends in direction of rotation shaft 50 of electric motor is provided close to rotation shaft 50 of electric motor. Board 24 of one electronic control unit of redundant system is fixed to heat radiation base body along direction in which heat radiation base body 23 extends with thermal conduction to heat radiation base body 23 allowed. Board 26 of the other electronic control unit of redundant system is fixed to heat radiation base body so as to face to board 24 of one electronic control unit of redundant system, with thermal conduction to heat radiation base body 23 allowed. Size reduction of electric drive device in radial direction can be achieved. Since heat radiates to housing of electric motor unit through heat radiation base body, heat from board can radiate efficiently to the outside.

An electric power steering device including a column actuator disposed on a column side of the intermediate shaft and outputting a column assist torque; a rack actuator disposed on a rack side of the intermediate shaft and outputting a rack assist torque; a column torque sensor coaxially disposed with the steering shaft and detecting a column torsion torque; a rack torque sensor coaxially disposed with the intermediate shaft and detecting a rack torsion torque; and a calculator calculating instruction values of the column assist torque and the rack assist torque based on the torsion torques.

In one aspect of the present disclosure, a combined suspension and steering module is disclosed that is positionable between an in-hub motor and a body of a vehicle. The module includes a housing, an actuator connected to the housing and including first and second components, and a steering system that is in mechanical cooperation with the actuator to rotate at least one of the first and second components in relation to the housing. The second component is axially movable in relation to the first component and is configured for connection to the in-hub motor to transmit rotational force from the actuator to the in-hub motor to cause angular displacement of the in-hub motor to thereby steer the vehicle.

Disclosed are a multifunctional electric recirculating ball steering system for commercial vehicles and a control method thereof, including: an electric power module, a mechanical transmission module and a control module; the electric power module includes: a dual-rotor motor module (14) and a power motor (22); the mechanical transmission module includes: a steering wheel (1), a steering shaft (4), couplings (5), a recirculating ball steering gear (16), a gear sector (19), a gear sector shaft (6), a steering drag link (7), a steering tie rod (12), a steering knuckle arm (8), a left tie rod arm (11), a right tie rod arm (26), a left steering knuckle (10), a right steering knuckle (25), a left wheel (9) and a right wheel (24); and the control module includes: an electronic control unit (21), torque sensors (3), a vehicle speed sensor (20), a steering angle sensor (2) and current sensors (23). The system ensures system reliability.

A system and method for actively compensating excessive noise, vibration, and harshness (NVH) in a vehicle front suspension is provided. The method includes sensing a vibration in the vehicle front suspension; generating an input signal representing the vibration in the vehicle front suspension; filtering the input signal using a bandpass filter; and calculating a compensation signal using a proportional-integral-derivative (PID) controller. The method also includes generating a compensation torque, based on the compensation signal, by an electric power steering (EPS) system motor, with the motor coupled to the vehicle front suspension. Method steps for enabling and disabling the active compensation system are also provided. The active compensation is enabled in response to a turn-on criteria being satisfied. The turn-on criteria may include suspension vibration above a threshold, and the suspension vibration being not caused by driver input. The active compensation is disabled in response to a turn-off criteria being satisfied

A steering device includes: an electric motor configured to apply a driving force to cause a wheel of a vehicle to roll; a transmission unit configured to transmit the driving force of the electric motor to the wheel; an input determination unit 221 configured to determine whether an excessive external force equal to or greater than a predetermined force is input, or likely to be input, to the transmission unit via the wheel while the electric motor is applying the driving force; and a final target current setting unit 23 configured to, in response to the input determination unit 221 determining that the excessive force is input, or likely to be input, to the transmission unit, reduce the driving force of the electric motor so that a load on the transmission unit does not exceed an upper limit that is preset according to strength of the transmission unit.

A steering drive for a steering axle of a steerable vehicle includes an electric motor with a motor shaft. A steering lever is rotatable about a pivot axis that is parallel to the electric motor. First and second planetary stages each have a sun gear, planet gears, and a planet carrier. The steering drive is configured such that a force flow runs from the first sun gear via the first planet gears to the first planet carrier. The force flow furthermore runs via the second sun gear and via the second planet gears to the second planet carrier, and furthermore runs to the steering lever. The steering drive has a spur gear stage and is configured such that a force flow from the motor shaft to the first sun gear runs via the spur gear stage. Also disclosed is a steering axle and an industrial truck.

A steering drive includes an electric motor with a motor shaft and a steering lever rotatable about a pivot axis. A first planetary stage has a first sun gear, first planet gears, a first ring gear, and a first planet carrier. A final planetary stage has a final sun gear, final planet gears, a final ring gear, and a final planet carrier. A force flow runs from the motor shaft to the first sun gear, and from the first sun gear via the first planet gears to the first planet carrier and to the first ring gear. The force flow runs via the final sun gear and via the final planet gears to the final ring gear, runs from the first ring gear and from the final ring gear to the steering lever, and runs via a first sun gear shaft from the electric motor to the first sun gear.