A corner module apparatus for a vehicle includes a driving unit configured to provide driving power to a wheel of the vehicle; a braking unit, coupled with the driving unit, configured to apply or release braking power; an upper arm module, connected to the driving unit, adjustable to vary a camber angle of the wheel; a lower arm module, connected to the driving unit, configured to absorb road surface impact while the vehicle moves; and a steering unit configured to support the upper arm module and the lower arm module, and adjust a steering angle of the wheel.

A corner module apparatus for a vehicle includes a driving unit configured to provide driving power to a wheel of the vehicle; a braking unit, coupled with the driving unit, configured to apply or release braking power; an upper arm module, connected to the driving unit, adjustable to vary a camber angle of the wheel; a lower arm module, connected to the driving unit, configured to absorb road surface impact while the vehicle moves; and a steering unit configured to support the upper arm module and the lower arm module, and adjust a steering angle of the wheel.

A rod-end front suspension is provided for an off-road vehicle. The rod-end front suspension comprises a spindle assembly that is pivotally coupled with an upper suspension arm by way of a first rod-end joint and pivotally coupled with a lower suspension arm by way of a second rod-end joint. A steering rod-end joint coupled with the spindle assembly pivotally receives a steering rod. An axle assembly coupled with the spindle assembly conducts torque from a transaxle to a wheel coupled with the spindle assembly. Each of the first and second rod-end joints comprises a ball rotatably retained within a casing. The ball is fastened within a recess between parallel prongs extending from the spindle assembly. A threaded shank extending from the casing is threadably fixated with the suspension arm, such that the spindle assembly may be moved with respect to the casing and the suspension arm.

A constant velocity joint is provided with at least a pair of tracks whose geometry is defined based on ball path that follows a parametric equation and the parametric function is in the form of a polynomial displacement function of a fourth order or larger.

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.

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.

A corner module apparatus, includes a corner module including a driving unit configured to provide driving power to a wheel of a vehicle, a suspension unit coupled with the driving unit and configured to absorb an impact to the wheel from a road surface, and a steering unit coupled with the suspension unit and configured to adjust a steering angle of the wheel; a main platform installed under a vehicle body of the vehicle and configured to have a battery mounted thereon; a first corner module platform detachably coupled with one side of the main platform and configured to have the corner module coupled therewith; and a second corner module platform detachably coupled with another side of the main platform and configured to have the corner module coupled therewith.

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.

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 invention provides a system for moving an object within an environment, wherein the system includes: one or more modular wheels configured to move the object, wherein the one or more modular wheels include: a body configured to be attached to the object; a wheel; a drive configured to rotate the wheel; a sensor mounted to the body; and, one or more processing devices configured to control the one or more modular wheels in accordance with signals from the sensor to thereby rotate the wheel and move the object.