Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

A suspension and traction system (MC) is described for vehicles equipped with a frame and a propulsive element (R.), which by rolling on the ground (T) is adapted to move the vehicle relative to the ground (T).

A rotary electric motor (12) operates two rotors (14, 16) independently controllable from one another to supply two epicycloidal mechanisms (20, 30) whose outer ring gears (28, 38) are independently movable to rotate about the respective solar gear (24, 34) and rigidly connected substantially to a same point (P) of the frame.

An exemplary actuator includes a motor, a transmission, and a support structure. The motor includes two torque sources that apply respective input torques to a rotor, which rotates about a rotation axis in response to a net input torque. The torque sources are arranged such that the input torques are additive, resulting in a vector-summated torque output. The torque sources also generate corresponding reactive torques that are applied to the first stator and the second stator. The transmission couples and constrains the first stator and the second stator such that rotational motion of one stator causes counter rotation of the other stator. Thus, the reactive torques are subtractive resulting a differential torque output. In some applications, the differential torque output is used to actuate a suspension of a vehicle. The actuator is also coupled to the vehicle via the support structure, which also reflects a reaction force or torque to actuate other subsystems (e.g., anti-dive, anti-squat).

A driveline for a vehicle includes a frame member, a knuckle, a control arm, a hub, an electric motor, and an axle member. The control arm couples the knuckle to the frame member. The hub is coupled to the knuckle and adapted to support a drive wheel for rotation about a wheel axis relative to the knuckle. The electric motor includes a rotor rotatable about a motor output axis. The motor is supported so that an orientation of the motor output axis relative to the knuckle and the frame member changes when an orientation of the control arm relative to the frame member changes. The axle member couples the rotor to the hub for torque transmission therebetween.

An electric work vehicle includes: a battery pack that is arranged between a left rear wheel arranged outside of a left frame and a right rear wheel arranged outside of a right frame, the front end of the battery pack being located forward of an axle center of a rear wheel unit; a left motor that is arranged above the battery pack, in the periphery of the left rear wheel, receives a supply of power from the battery pack, and transmits rotational power to the left rear wheel; and a right motor that is arranged above the battery pack, in the periphery of the right rear wheel, receives a supply of power from the battery pack, and transmits rotational power to the right rear wheel.

A driveline for a vehicle includes a frame member, a knuckle, a control arm, a hub, an electric motor, and an axle member. The control arm couples the knuckle to the frame member. The hub is coupled to the knuckle and adapted to support a drive wheel for rotation about a wheel axis relative to the knuckle. The electric motor includes a rotor rotatable about a motor output axis. The motor is supported so that an orientation of the motor output axis relative to the knuckle and the frame member changes when an orientation of the control arm relative to the frame member changes. The axle member couples the rotor to the hub for torque transmission therebetween.

An electric work vehicle includes: a battery pack that is arranged between a left rear wheel arranged outside of a left frame and a right rear wheel arranged outside of a right frame, the front end of the battery pack being located forward of an axle center of a rear wheel unit; a left motor that is arranged above the battery pack, in the periphery of the left rear wheel, receives a supply of power from the battery pack, and transmits rotational power to the left rear wheel; and a right motor that is arranged above the battery pack, in the periphery of the right rear wheel, receives a supply of power from the battery pack, and transmits rotational power to the right rear wheel.

A suspension system (20) is described for vehicle with a frame, comprising an element (R, 12) propulsive by rolling on the ground; two units (12a, 12b) adapted to impart a torque to the propulsive element that are controllable independently of one another, where the two units are movable relative to the propulsive element independently from one another and rigidly connectable to the frame at one same point (P). By moving one or each unit relative to the propulsive element the distance between the latter and said point is made to vary.

Vehicles are disclosed which have a lower center of gravity than existing all-terrain, amphibious, and unmanned ground vehicles due to the location of propulsion units and other vehicle components inside the wheels of the vehicle. The vehicles can climb over large obstacles yet are also able to corner at high speeds. The vehicles can be configured for direct manual operation or operation by remote control, and can also be configured for a wide variety of missions.

Wheel assembles using integrated motors and speed reducers for electric vehicles are disclosed for providing improved structural efficiency. A wheel assembly may include a motor for providing power to a wheel, a leading or trailing type or similar suspension link, a caliper mounted to the suspension link and configured to engage a friction brake rotor on the wheel, and a synchronous belt mounted off-axis for implementing speed reducing. In certain embodiments, the respective components of the wheel assembly are nested to fit into a minimal volume. In other embodiments, the wheel assembly includes a motor that is not nested and that is configured to supply power to the wheel via a belt and pulley system.