An object of the present invention is to obtain an electromagnetic suspension apparatus capable of quickly reducing an influence of a mechanical frictional force generated in each part of an electromagnetic actuator. The electromagnetic suspension apparatus includes an electromagnetic actuator that generates a driving force related to a damping operation and an expansion and contraction, an information acquisition unit that acquires vehicle state information including a stroke speed of the electromagnetic actuator, an equivalent frictional force calculation unit that calculates an equivalent frictional force of the electromagnetic actuator based on the vehicle state information, and an ECU that calculates a target driving force of the electromagnetic actuator and controls the driving force of the electromagnetic actuator using the calculated target driving force. The ECU corrects the target driving force based on the equivalent frictional force calculated by the equivalent frictional force calculation unit.

An air suspension for a vehicle includes a mounting bracket configured to couple to the vehicle. A pivot bracket includes a top and a bottom. The top is pivotably coupled to a frontward portion of the mounting bracket. An air shock absorber includes a first end and a second end. The first end is pivotably coupled to the bottom of the pivot bracket and the second end is pivotably coupled to a rearward portion of the mounting bracket. An axle arm includes a first portion and a second portion. The first portion of the axle arm is fixedly coupled to the frontward portion of the mounting bracket. A spindle is fixedly coupled to the second portion of the axle arm and is configured to be coupled to a hub assembly of a wheel.

An axle assembly having a unitary trunnion bracket, an axle, and a support bracket. The unitary trunnion bracket may include an axle interface portion and a bracket interface portion. The bracket interface portion may extend from the axle interface portion. The axle may engage the axle interface portion. The support bracket may engage the bracket interface portion.

A ground vehicle may include a platform and a swing arm that may be rotatably coupled to the platform. The swing arm may be configured to move from a first position to a second position by rotating the swing arm about a pivot point on the side of the platform. The pivot point may correspond to where a proximal end of the swing arm couples to the side of the platform. The swing arm may also be configured to move from either the first position or the second position to a third position by actuating the swing arm from the pivot point such that a distal end of the swing arm moves away from the platform to broaden a wheelbase of the ground vehicle. The ground vehicle may also include a centerless wheel assembly coupled to the swing arm.

An assembly for a wheel of a robotic vehicle and a method for overcoming an obstacle for said robotic vehicle. The assembly comprises a first arm portion and a second arm portion, the first arm portion being attachable to a chassis of the robotic vehicle at an attachment point and extending forwardly and downwardly relative to the attachment point in a direction of a movement of the robotic vehicle. The second arm portion is pivotably connected with the first arm portion at an arm pivot point and extends forwardly relative to the arm pivot point in the direction of the movement. The wheel is rotatably mounted on one end of the second arm portion opposed to the arm pivot point. A wheel rotation axis being positioned at least as high as the arm pivot point relative to a surface on which the robotic vehicle is positioned.

A suspension element includes a housing, a first joint, and a second joint. The housing is configured to couple a tractive element assembly to a vehicle. The housing has a first end configured to engage a portion of the vehicle and a second end configured to interface with the tractive element assembly. The first joint includes a first actuator and a first resilient member. The first actuator is configured to facilitate linear extension and retraction of the suspension element. The second joint includes a second actuator and a second resilient member. The second actuator is configured to facilitate rotational movement of the suspension element. The first resilient member and the second resilient member are configured to support a static load of the vehicle.

A suspension includes a trailing arm that is swingably attached to a vehicle frame of a utility vehicle and carries a wheel, and a shock absorber that connects the trailing arm and the vehicle frame. A first end, which is an end of the shock absorber, is attached to a side surface of the trailing arm facing inside in a width direction of the vehicle.

A suspension device for a non-steered driving wheel including a wheel carrier having an in-wheel motor incorporated therein for driving the driving wheel, and a suspension arm pivotally supported on a vehicle body and connected to the wheel carrier by a connecting structure. The connecting structure includes a plate member fixed to the wheel carrier by fastening and a pair of elastic bushing devices attached to the plate member. The suspension arm has an open cross sectional portions for receiving portions of the plate member and the elastic bushing devices, and the elastic bushing devices are fixed to the open cross sectional portions at both ends.

A swingarm includes a first swingarm leg oriented along a first horizontal plane, a main body extending upward and outward from a second end of the first swingarm leg, and a second swingarm leg extending from a second end of the main body along a second horizontal plane. The swingarm also includes a first bearing holder coupled to a first end of the first swingarm leg and a second bearing holder coupled to a second end of the second swingarm leg. The first bearing holder includes a cavity oriented horizontally to form a first pivot axis. The second bearing holder includes a cavity oriented vertically to form a second pivot axis. The first and second bearing holders are of the same construction.

A vehicle has steering and drive wheels supported by legs articulated to the structure of the vehicle. Each leg is rotatably mounted on a main support around a transverse axis. The main support is rotatably mounted about the transverse axis on a base structure, which is connected to the structure of the vehicle. An actuator device is operatively interposed between the main support and the base support to adjust the position of the main support around the transverse axis, and consequently the height of the vehicle from the ground. A hub-bearing support carrying the wheel hub is rotatably mounted around a wheel steering axis on an auxiliary camber adjustment support. The latter is carried around a camber adjustment axis on a further auxiliary caster adjustment support. The latter is carried by the leg around a caster adjustment axis. The steering of the wheel and the camber adjustment are controlled by respective actuator devices. The caster adjustment is automatically controlled as the position of the leg changes around the transverse axis.