STEERING AND SUSPENSION MECHANISM

Abstract

A suspension and steering mechanism for a vehicle including at least one suspension arm, a steering arm, and a steering actuator. The suspension arm includes a wheel mounting end and a base end rotatably coupled with a reference frame via a base axis. The steering arm is coupled with the suspension arm at a rotation point of the steering arm. An actuated end of the steering arm extends toward a first direction from the rotation point. The steering actuator includes an actuating end and a fixed end, and is rotatably coupled at the fixed end with the suspension arm and rotatably coupled at the actuating end with the actuated end of the steering arm. A horizontal location of the fixed end is within at least one of a horizontal cross-section of the suspension arm and a triangle defined by the rotation point and the largest width of the base axis.

Claims

1. A suspension and steering mechanism for a vehicle comprising: at least one suspension arm comprising a wheel mounting end and a base end, said base end rotatably coupled with a reference frame via a base axis; a steering arm including an actuated end, said steering arm coupled with said at least one suspension arm at a rotation point of said steering arm, said actuated end extending toward a first direction from said rotation point; and a steering actuator, including an actuating end and a fixed end, said steering actuator rotatably coupled at said fixed end thereof with said at least one suspension arm, and rotatably coupled at said actuating end with said actuated end of said steering arm; wherein a horizontal location of said fixed end is within at least one of a horizontal cross section of said at least one suspension arm, and a triangle defined by said rotation point and the largest width of said base axis.

2. The suspension and steering mechanism according to claim 1, further comprising a second steering actuator, wherein said steering arm is a double steering arm comprising a second actuated end, said second actuated end extending toward a second direction of said rotation point, said second actuated end of said double steering arm is coupled with an actuating end of said second steering actuator such that said second steering actuator and said double steering arm can rotate one with respect to the other.

3. The suspension and steering mechanism according to claim 1, wherein each of said steering actuator is operative to move between a retracted position and an extended position.

4. The suspension and steering mechanism according to claim 3, wherein when said steering actuator is in said retracted position, a horizontal position of said actuating end is located inside said horizontal cross section of said at least one suspension arm.

5. The suspension and steering mechanism according to claim 1, wherein said steering arm is connected with said rotation point by a constant velocity joint.

6. The suspension and steering mechanism according to claim 1, wherein said steering actuator is a hydraulic actuator actuated by a hydraulic system.

7. The suspension and steering mechanism according to claim 6, wherein said hydraulic system comprises a hydraulic reservoir, a hydraulic pump and a hydraulic manifold, coupled therebetween and with said steering actuator.

8. The suspension and steering mechanism according to claim 7, wherein said hydraulic reservoir is shared with a brake system of said vehicle.

9. The suspension and steering mechanism according to claim 7, wherein said hydraulic reservoir, said hydraulic pump and said hydraulic manifold are located in said reference frame.

10. The suspension and steering mechanism according to claim 7, wherein said steering actuator comprises a relief valve to at least one of enable and disable an operation of said at least one steering actuator.

11. The suspension and steering mechanism according to claim 1, wherein said at least one suspension arm comprises at least two suspension arms, and wherein said steering actuator is coupled with the one of said at least two suspension arms that absorbs the least shock energy.

12. The suspension and steering mechanism according to claim 1, further comprising a spring, coupled between said at least one suspension arm and said steering arm and extending toward a second direction from said rotation point.

13. The suspension and steering mechanism according to claim 1, further comprising a constant velocity (CV) joint at said rotation point for coupling said steering arm with said at least one suspension arm.

14. A suspension and steering mechanism comprising: at least one suspension arm comprising a wheel mounting end and a base end, said base end rotatably coupled with a reference frame via a base axis; a steering arm including an actuated end, said steering arm coupled with said at least one suspension arm at a rotation point of said steering arm; and a steering actuator, comprising an actuating end and a fixed end, said fixed end rotatably coupled with said at least one suspension arm, said actuating end rotatably coupled with said actuated end of said steering arm, said actuating end is configured to move between an extended position and a retracted position, wherein when said actuating end is in said retracted position, a horizontal position of said actuating end is inside a horizontal cross section of said at least one suspension arm.

15. A wheel assembly, comprising: a sub-frame and a suspension and steering mechanism according to claim 1, wherein said reference frame is said sub-frame and said base end is rotatably coupled with said sub-frame.

16. A vehicle, comprising: a vehicle reference frame; and at least one suspension and steering mechanism according to claim 1, connected to said vehicle reference frame.

17. The vehicle according to claim 16, wherein said at least one suspension and steering mechanism comprises a sub-frame connected to said reference frame.

18. The vehicle according to claim 16, further comprising a hydraulic manifold coupled to said reference frame.

19. A vehicle, comprising: a vehicle reference frame; and at least one suspension and steering mechanism according to claim 14, connected to said vehicle reference frame.

20. The vehicle according to claim 19, wherein said at least one suspension and steering mechanism comprises a sub-frame connected to said reference frame.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The disclosed technique will be understood and appreciated more fully from the following detailed description taken in conjunction with the drawings in which:

[0013] FIGS. 1A and 1B are schematic illustrations of a top view of a suspension and steering mechanism constructed and operative in accordance with an embodiment of the disclosed technique;

[0014] FIGS. 2A and 2B are schematic illustrations of a top view of a suspension and steering mechanism, constructed and operative in accordance with another embodiment of the disclosed technique;

[0015] FIGS. 3A and 3B are schematic illustrations of a top view of a suspension and steering mechanism, constructed and operative in accordance with a further embodiment of the disclosed technique;

[0016] FIGS. 4A and 4B are schematic illustrations of an exemplary implementation of a suspension and steering mechanism, constructed and operative in accordance with another embodiment of the disclosed technique; and

[0017] FIGS. 5A and 5B are schematic illustrations of a suspension and steering mechanism, constructed and operative in accordance with a further embodiment of the disclosed technique.

DETAILED DESCRIPTION

[0018] The disclosed technique overcomes the disadvantages of the prior art by providing a steering and suspension mechanism, which includes at least one suspension arm and a steering actuator. The suspension arm includes a wheel mounting end and a base end. The steering actuator includes an actuating end and a fixed end. The fixed end is rotatably coupled with the suspension arm. The horizontal location of the fixed end is within at least one of a horizontal cross section of the suspension arm, and a triangle defined by the rotation point of the steering arm and the largest width of axes or axis about which the suspension arm rotates.

[0019] In the explanations which follow, the plane over which a vehicle maneuvers, is referred to herein as a “horizontal plane” and an axis perpendicular to such a horizontal plane, is referred to herein as a “vertical axis”. When the vehicle is a wheeled vehicle, the “horizontal plane” may be the plane (e.g., terrain) over which a wheel rolls. The terms “vertical motion” and “motion in the vertical direction”, relate herein to motion along a vertical axis as per the definition thereof above. Also, the term “in-motion axis” relates to an axis pointing in a direction along which the wheel rolls (i.e., the in-motion direction, e.g. longitudinal direction of the vehicle). Typically, the in-motion axis is parallel (or substantially parallel, for example, when wheel has a camber angle) to the horizontal plane. The term “lateral axis” relates to an axis perpendicular (or substantially perpendicular) to both the vertical axis and the in-motion axis, pointing in a direction perpendicular to the direction toward which the wheel rolls (i.e., lateral direction). Also, the terms “coupled at pivot point”, “pivotally coupled”, “coupled at rotation point” and “rotatably coupled” are all employed herein interchangeably and relate to two elements coupled such that these two elements may rotate one with respect to the other.

[0020] Reference is now made to FIGS. 1A and 1B, which are schematic illustrations of a top view of a suspension and steering mechanism, generally referenced 100, constructed and operative in accordance with an embodiment of the disclosed technique. Suspension and steering mechanism 100 includes at least one suspension arm 102, a steering actuator 104, and a steering arm 106. Suspension arm 102 includes a wheel mounting end and a base end. The wheel mounting end of suspension arm 102 includes a steering axis 112. Steering axis 112 may be along the wheel kingpin axis. Steering actuator 104 includes an actuating end 110 and a fixed end 108. Steering actuator 104 is, for example, a linear actuator (e.g., a hydraulic actuator, an electric linear actuator or a pneumatic linear actuator).

[0021] A rotation point of steering arm 106 is coupled with suspension arm 102 at steering axis 112 such that steering arm 106 and suspension arm 102 rotate one with respect to the other about steering axis 112. As further exemplified in FIGS. 1A and 1B, this rotation point of steering arm 106 is coupled with a suspended wheel mount to which a wheel is coupled, such that when steering arm 106 rotates about kingpin axis 112, the suspended wheel mount also rotates therewith. The rotation point of steering arm 106 is connected with suspension arm 102 at steering axis 112, for example, by a constant velocity (CV) joint, thus transferring moment while allowing flexibility of movement between steering arm 106 and suspension arm 102. An actuated end of steering arm 106 is coupled with actuating end 110 of steering actuator 104 at axis 114, such that steering actuator 104 and steering arm 106 can rotate one with respect to the other about axis 114. Fixed end 108 of actuator arm 104 is rotatably coupled with suspension arm 102 at vertical axis 116 such that steering actuator 104 and suspension arm 102 can rotate one with respect to the other about vertical axis 116. The base end of suspension arm 102 is rotatably coupled with a reference frame via horizontal axis 1091 and horizontal axis 1092, such that suspension arm 102 rotates about horizontal axes 1091 and 1092. In some embodiments, the reference frame is part of a vehicle platform (e.g., vehicle structural frame or a chassis) and as such can be referred to as a vehicle reference frame. In some alternative embodiments, the reference frame is a sub-frame, adapted for coupling to a vehicle platform (e.g., to a vehicle structural frame or a chassis).

[0022] In the example brought forth in FIGS. 1A and 1B, as actuating end 110 of steering actuator 104 extends, steering arm 106 and thus the suspended wheel mount rotates clockwise about steering axis 112. As actuating end 110 of steering actuator 104 retracts, steering arm 106 and thus the suspended wheel mount rotates counterclockwise about steering axis 112. Also actuating end 110 is configured to move between a retracted position and an extended position. As seen in FIGS. 1A and 1B, as actuating end 110 extends, the horizontal position actuating end 110 move outside the horizontal cross-section of suspension arm 102. Conversely, as actuating end 110 retracts, the horizontal position actuating end 110 move inside the horizontal cross-section of suspension arm 102. Further as depicted in FIGS. 1A and 1B, the horizontal position of fixed end 108 is located within at least one of a horizontal cross-section of suspension arm 102 and a triangle 118 defined by the rotation point of steering arm 106 (and steering axis 112) and the largest width between axis 1091 and axis 1092.

[0023] Reference is now made to FIGS. 2A and 2B, which are schematic illustrations of a top view of a suspension and steering mechanism, generally referenced 150, constructed and operative in accordance with another embodiment of the disclosed technique. Suspension and steering mechanism 150 includes at least one suspension arm 152, a steering actuator 154, and a steering arm 156. Suspension arm 152 includes a wheel mounting end and a base end. The wheel mounting end of suspension arm 152 includes a steering axis 162. Steering actuator 154 includes an actuating end 160 and a fixed end 158. Steering actuator 154 is, for example, a linear actuator (e.g., a hydraulic actuator, an electric linear actuator, or a pneumatic linear actuator).

[0024] A rotation point of steering arm 156 is coupled with suspension arm 152 at steering axis 162 such that steering arm 156 and suspension arm 152 rotate one with respect to the other about steering axis 162. Similar to as described above in conjunction with FIGS. 1A and 1B, and as further exemplified in FIGS. 4A and 4B, this rotation point of steering arm 156 is coupled with a suspended wheel mount to which a wheel is coupled, such that when steering arm 156 rotates about steering axis 162, the suspended wheel mount also rotates therewith. The rotation point of steering arm 156 is connected with suspension arm 152 at steering axis 162, for example, by a CV joint. A CV joint may further connect the rotation point of steering arm 156 and the suspended wheel mount, thus transferring moment while allowing flexibility of movement between steering arm 156 the suspended wheel mount. A second end (i.e., an actuated end) of steering arm 156 is coupled with actuating 160 end of steering actuator 154 at axis 164, such that steering actuator 154 and steering arm 156 can rotate one with respect to the other about axis 164. Fixed end 158 of actuator arm 154 is rotatably coupled with suspension arm 152 at vertical axis 166 such that steering actuator 154 and suspension arm 152 can rotate one with respect to the other about axis 166. The base end of suspension arm 152 is rotatably coupled with a reference frame via horizontal axis 159 such that suspension arm 152 rotates about horizontal axis 159.

[0025] Actuating end 160 is configured to move from a retracted position to an extended position. As actuating end 160 of steering actuator 154 extends, steering arm 156, and thus the suspended wheel mount rotates counterclockwise about steering axis 162. As actuating end 160 of steering actuator 154 retracts, steering arm 156, and thus the suspended wheel mount rotates clockwise about steering axis 162. Also, similar to as described above in conjunction with FIGS. 1A and 1B, as seen in FIGS. 2A and 2B, as actuating end 160 extends, the horizontal position of actuating end 160 moves toward a position located outside the horizontal cross-section of suspension arm 152. Conversely, as actuating end 160 retracts, the horizontal position actuating end 160 is located inside the horizontal cross-section of suspension arm 152. Further as depicted in FIGS. 2A and 2B, and similar to as described above in conjunction with FIGS. 1A and 1B, the horizontal position of fixed end 158 is located within at least one of a horizontal cross-section of suspension arm 152, and a triangle 168 defined by the rotation point of steering arm 156 (steering axis 162) and the largest width of axis 159.

[0026] A steering and suspension mechanism according to the disclosed technique may include two steering actuators. Reference is now made to FIGS. 3A and 3B, which are schematic illustrations of a suspension and steering mechanism, generally referenced 200, constructed and operative in accordance with a further embodiment of the disclosed technique. Suspension and steering mechanism 200 includes at least one suspension arm 202, two steering actuators, first steering actuator 2041 and second steering actuator 2042, and a steering arm 206. Suspension arm 202 includes a wheel mounting end and a base end. The wheel mounting end of suspension arm 202 includes a steering axis 212. Steering arm 206 is a double steering arm (e.g., L shaped double steering arm, V shaped double steering arm, arcuated double steering arm, a straight double steering arm) and includes two arms extending from a rotation point, where each arm includes an actuated end. The arms are not necessarily symmetric. First steering actuator 2041 includes an actuating end 2101 and a fixed end 2081. First steering actuator 2041 is, for example, a linear actuator (e.g., a hydraulic actuator, an electric linear actuator or a pneumatic linear actuator). Similarly, second steering actuator 2042 includes an actuating end 2102 and a fixed end 2082. Second steering actuator 2042 is also, for example, a linear actuator.

[0027] The steering arm 206 is coupled with suspension arm 202 at steering axis 212 and at the rotation point of steering arm 206, such that steering arm 206 and suspension arm 202 rotate one with respect to the other about steering axis 212, and each of the actuated ends extend toward opposite sides of the rotation point. Similar to as described above, a suspended wheel mount (i.e., to which a wheel is coupled) is coupled with steering arm 206 at or near this rotation point such that when steering arm 206 rotates about steering axis 212, the suspended wheel mount also rotates therewith. The rotation point of steering arm 206 is connected with suspension arm 202, for example, by a CV joint. A CV joint may further connect the rotation point of steering arm 206 and the suspended wheel mount. A CV joint transfers moment while allowing flexibility of movement between steering arm 206 and the suspended wheel mount. A first actuated end of steering arm 206 is coupled with actuating end 210.sub.1 of first steering actuator 2041 at axis 214.sub.1, such that first steering actuator 204.sub.1 and steering arm 106 can rotate one with respect to the other about axis 214.sub.1. Fixed end 208.sub.1 of first steering actuator 204.sub.1 is rotatably coupled with suspension arm 202 at vertical axis 216.sub.1 such that first steering actuator 204.sub.1 and suspension arm 202 can rotate one with respect to the other about vertical axis 216.sub.1.

[0028] Similarly, a second actuated end of steering arm 206 is coupled with actuating end 210.sub.2 of second steering actuator 204.sub.2 at axis 214.sub.2, such that second steering actuator 204.sub.2 and steering arm 206 can rotate one with respect to the other about axis 214.sub.2. Fixed end 208.sub.2 of second actuator arm 204.sub.2 is rotatably coupled with suspension arm 202 at vertical axis 216.sub.2 such that second steering actuator 204.sub.2 and suspension arm 202 can rotate one with respect to the other about vertical axis 216.sub.2. The base end of suspension arm 202 is rotatably coupled with a reference frame via horizontal axis 209.sub.1 and horizontal axis 209.sub.2, such that suspension arm 202 rotates about horizontal axes 209.sub.1 and 209.sub.2.

[0029] In the example brought forth in FIGS. 3A and 3B, actuating ends 210.sub.1 and 210.sub.2 are configured to move from a retracted position to an extended position. As actuating end 210.sub.1 of first steering actuator 204.sub.1 retracts, and actuating end 210.sub.2 of second steering actuator 204.sub.2 extends, steering arm 206 and thus the suspended wheel mount rotate counterclockwise. As actuating end 210.sub.1 of first steering actuator 204.sub.1 extends, and actuating end 2102 of second steering actuator 204.sub.2 retracts, steering arm 206 and thus the suspended wheel mount rotate clockwise. Also, as seen in FIGS. 3A and 3B, as actuating ends 210.sub.1 extends, the horizontal position actuating end 210.sub.1 move outside the horizontal cross-section of suspension arm 202. Conversely, as actuating end 210.sub.1 retracts, the horizontal position actuating end 210.sub.1 moves inside the horizontal cross-section of suspension arm 202. Similarly, as actuating ends 210.sub.2 extends, the horizontal position actuating end 210.sub.2 moves outside the horizontal cross-section of suspension arm 202. Conversely, as actuating end 210.sub.2 retracts, the horizontal position actuating end 210.sub.2 moves inside the horizontal cross-section of suspension arm 202. Further as depicted in FIGS. 3A and 3B, and similar to as described above in conjunction with FIGS. 1A and 1B and FIGS. 2A and 2B, the horizontal position of one of the fixed ends 208.sub.1 and 208.sub.2 is located within at least one of a horizontal cross-section of suspension arm 202 and a triangle 218 defined by the rotation point of steering arm 206 (i.e., and steering axis 212) and the largest width between axis 209.sub.1 and axis 209.sub.2. In general, when two or more steering actuators are employed, the horizontal position of a fixed end of at least of the steering actuators is located within at least one of a horizontal cross-section of the suspension arm and a triangle defined by the rotation point of the steering arm and the largest width between axis or axes about which the suspension arm rotates. According to another embodiment, for example as shown in FIGS. 1A to 3B, and FIGS. 5A and 5B below, the horizontal position of a fixed end of a steering actuator is located within a geometry (e.g., a triangle, a square, a rectangle, polygon) defined by the steering axis and the axis or axes about which the suspension arm rotates.

[0030] Reference is now made to FIGS. 4A and 4B, which are schematic illustrations of an exemplary implementation of a suspension and steering mechanism, generally referenced 250, constructed and operative in accordance with another embodiment of the disclosed technique. FIG. 4A is an isometric view of the suspension and steering mechanism 250 and FIG. 4B is a top view of the suspension and steering mechanism 250. Suspension and steering mechanism 250 includes two suspension arms, first suspension arm 252 and second suspension arm 254, two steering actuators, steering actuator 266.sub.1 and steering actuator 266.sub.2. Suspension and steering mechanism 250 further includes a suspended wheel mount 262, a spring-damper assembly 259, a suspended wheel mount 262 and a steering arm 268. Each one of first suspension arms 252 and second suspension arm 254 includes a wheel mounting end and a base end. The wheel mounting end of each of first suspension arms 252 and second suspension arm 254 includes a steering axis 260. Steering arm 268 includes two arms extending from a rotation point (e.g., L shaped steering, V shaped steering, and arcuated steering arm, a straight double steering arm), where each arm includes an actuated end. Steering actuators 266.sub.1 and 266.sub.2 are, for example, a linear actuator (e.g., a hydraulic actuator, an electric linear actuator or a pneumatic linear actuator). Steering arm 268 and suspension arm 252 are connected, for example, is by a CV joint. In some embodiments, a CV (constant velocity) joint interconnects the vertex of steering arm 268 and the suspended wheel mount 262, thus transferring moment while allowing flexibility of movement between steering arm 268 and suspension arm 262.

[0031] The base end of first suspension arm 252 is rotatably coupled with a reference frame 256 via horizontal axis 258.sub.1 and horizontal axis 258.sub.2, such that first suspension arm 252 rotates about horizontal axes 258.sub.1 and 258.sub.2. The base end of second suspension arm 254 is rotatably coupled with a reference frame 256 via horizontal axis 261.sub.1 and horizontal axis 261.sub.2, such that second suspension arm 254 rotates about horizontal axes 261.sub.1 and 261.sub.2.

[0032] As seen in FIG. 4A, reference frame 256 is a sub-frame, adapted for connection to the vehicle platform (e.g. vehicle structural frame or a chassis). Suspended wheel mount 262 is coupled with the wheel mounting end of each one first suspension arms 252 and second suspension arms 254 via steering axis 260 such that suspended wheel mount 262 and each one first suspension arms 252 and second suspension arms 254 can rotate about each other about steering axis 260. Furthermore, in the example brought forth in FIGS. 4A and 4B, one end of spring damper assembly 259 is coupled with second suspension arm 254 and the other end of spring damper assembly 259 is operative to be coupled with the suspended object (e.g., a vehicle).

[0033] Steering arm 268 is coupled with first suspension arm 252 at steering axis 260 and at the rotation point of steering arm 268, such that steering arm 268 and first suspension arm 252 rotate one with respect to the other about steering axis 260, and each of the actuated ends extend toward opposite sides of the rotation point. Similar to as described above, suspended wheel mount 262, to which a wheel 264 is coupled, is coupled with steering arm 268, such that when steering arm 268 rotates about steering axis 260, suspended wheel mount 262 also rotates therewith.

[0034] A first actuated end of steering arm 268 is coupled with the actuating end of first steering actuator 266.sub.1 at axis 270.sub.1, such that steering actuator 266.sub.1 and steering arm 268 can rotate one with respect to the other about vertical axis 272.sub.1. The fixed end of first actuator arm 266.sub.1 is rotatably coupled with first suspension arm 252 at axis 225.sub.1 such that steering actuator 266.sub.1 and first suspension arm 252 can rotate one with respect to the other about axis vertical 272.sub.1.

[0035] A second actuated end of steering arm 268 is coupled with actuating end of first steering actuator 266.sub.2 at axis 270.sub.2, such that steering actuator 266.sub.2 and steering arm 268 can rotate one with respect to the other about axis 270.sub.2. Fixed end of second actuator arm 266.sub.2 is rotatably coupled with first suspension arm 252 at vertical axis 272.sub.2 such that steering actuator 266.sub.2 and first suspension arm 252 can rotate one with respect to the other about vertical axis 272.sub.2.

[0036] In the example brought forth in FIGS. 4A and 4B, and similar to as described above in conjunction with FIGS. 3A and 3B, actuating ends 266.sub.1 and 266.sub.2 are configured to move from a retracted position to an extended position. As the actuating end of first steering actuator 266.sub.1 retracts, and the actuating end of second steering actuator 266.sub.2 extends, steering arm 268 and thus suspended wheel mount 262 and wheel 264 rotate clockwise. As the actuating end of first steering actuator 266.sub.1 extends, and the actuating end of second steering actuator 266.sub.2 retracts, steering arm 268 and thus suspended wheel mount 262 and wheel 264 rotate counterclockwise. Further as depicted in FIGS. 4A and 4B, and similar to as described above in conjunction with FIGS. 3A and 3B, each one of the fixed ends of steering actuators 266.sub.1 and 266.sub.2 is located within at least one of a horizontal cross-section of first suspension arm 252 and a triangle 274 defined by the rotation point of steering arm 268 (steering axis 260) and the largest width between axis 258.sub.1 and axis 258.sub.2.

[0037] Employing two steering actuators, similar to as described in FIGS. 3A and 3B and FIGS. 4A and 4B, provides redundancy such that if one steering actuator malfunctions, steering can still be performed with the other steering actuator. Also, employing two steering actuators prevents steering lock in case one of the steering actuators reaches a lock position (e.g., in FIG. 1A and 1B, when steering actuator 104 is aligned with steering arm 106).

[0038] A steering and suspension mechanism according to the disclosed technique may include steering actuator and a spring. The spring is employed to prevent the steering actuator to lock in a dead center position. The spring is coupled between the suspension arm and the steering arm. The spring extends toward an opposite direction from the rotation point of the steering arm (i.e., relative to the actuated end of the steering arm). Reference is now made to FIGS. 5A and 5B, which are schematic illustrations of an exemplary suspension and steering mechanism, generally referenced 300, constructed and operative in accordance with a further embodiment of the disclosed technique. Suspension and steering mechanism 300 includes at least one suspension arm 302, a steering actuator 304, a spring 305, and a steering arm 306. Suspension arm 302 includes a wheel mounting end and a base end. The wheel mounting end of suspension arm 302 includes a steering axis 312. Steering arm 306 is a double steering arm (e.g., L shaped double steering arm, V shaped double steering arm, arcuated double steering arm, a straight double steering arm) and includes two arms extending from a rotation point, where each arm includes an actuated end. The arms of steering arm 306 are not necessarily symmetric. Steering actuator 304 includes an actuating end 310.sub.1 and a fixed end 308.sub.1. First steering actuator 304 is, for example, a linear actuator (e.g., a hydraulic actuator, an electric linear actuator or a pneumatic linear actuator). Spring 305 includes two ends including a moving end 310.sub.2 and a fixed end 308.sub.2.

[0039] Steering arm 306 is coupled with suspension arm 302 at steering axis 312 and at the rotation point of steering arm 306 such that steering arm 306 and suspension arm 302 rotate one with respect to the other about steering axis 312 and each of the actuated ends extend toward opposite directions from steering axis 312. Similar to as described above, a suspended wheel mount (i.e., to which a wheel is coupled) is coupled with steering arm 306 at or near this rotation point such that when steering arm 306 rotate about steering axis 312, the suspended wheel mount also rotates therewith. The rotation point of steering arm 306 is connected with suspension arm 302, for example, by a CV joint. A CV joint may further connect the vertex of steering arm 306 and the suspended wheel mount. A first actuated end of steering arm 306 is coupled with actuating end 310.sub.1 of first steering actuator 304.sub.1 at axis 314.sub.1, such that first steering actuator 304.sub.1 and steering arm 306 can rotate one with respect to the other about axis 314.sub.1. Fixed end 308.sub.1 of first steering actuator 304.sub.1 is rotatably coupled with suspension arm 302 at vertical axis 316.sub.1 such that first steering actuator 304.sub.1 and suspension arm 302 can rotate one with respect to the other about vertical axis 316.sub.1.

[0040] Similarly, a second actuated end of steering arm 306 is coupled with moving end 310.sub.2 of spring 305 at axis 314.sub.2, such that second steering actuator 304.sub.2 and steering arm 306 can rotate one with respect to the other about axis 314.sub.2. Fixed end 308.sub.2 of spring 305 is rotatably coupled with suspension arm 302 at vertical axis 316.sub.2 such that second steering actuator 304.sub.2 and suspension arm 302 can rotate one with respect to the other about vertical axis 316.sub.2. The base end of suspension arm 302 is rotatably coupled with a reference frame via horizontal axis 309.sub.1 and horizontal axis 309.sub.2, such that suspension arm 302 rotates about horizontal axes 309.sub.1 and 309.sub.2.

[0041] In the example brought forth in FIGS. 5A and 5B, actuating end 310.sub.1 is configured to move from a retracted position to an extended position. As actuating end 310.sub.1 of steering actuator 304 retracts, steering arm 306 and thus the suspended wheel mount rotate counterclockwise and spring 305 is stretched. Spring 305 exerts a clockwise force on steering arm 306. Thus, if steering actuator 304 reaches a dead center lock position, spring 305 shall pull steering arm 306, and thus steering actuator 304, from this dead lock position.

[0042] As actuating end 310.sub.1 of steering actuator 304 extends, steering arm 306 and thus the suspended wheel mount rotate clockwise and spring 305 compresses. Also, as seen in FIGS. 5A and 5B, as actuating ends 310.sub.1 extends, the horizontal position actuating end 310.sub.1 move outside the horizontal cross-section of suspension arm 302. Conversely, as actuating end 310.sub.1 retracts, the horizontal position actuating end 310.sub.1 move inside the horizontal cross-section of suspension arm 302. Further as depicted in FIGS. 5A and 4B, and similar to as described above in conjunction with FIGS. 1A and 1B and FIGS. 2A and 2B, the horizontal position of one of the fixed ends 308.sub.1 and 308.sub.2 is located within at least one of a horizontal cross-section of suspension arm 302 and a triangle 318 defined by the rotation point of steering arm 306 (and steering axis 312) and the largest width between axis 309.sub.1 and axis 309.sub.2. In general, the horizontal position of a fixed end of at least one of steering actuator 304 of the spring 305 is located within at least one of a horizontal cross-section of suspension arm 302 and a triangle 318 defined by the steering axis and the largest width between axis or axes about which suspension arm 302 rotates. According to another embodiment, the horizontal position of a fixed end of at least one of steering actuator 304 and spring 305 is located within a geometry (e.g., a triangle, a square, a rectangle, polygon) defined by steering axis 312 and the axis or axes about which suspension arm 302 rotates. In description brought forth herein above in conjunction with FIGS. 1B, 2B, 3B and 5B, when the actuator is fully retracted, the horizontal position of the actuating end, as well as the fixed end of the steering actuator, are located within a geometry (e.g., a triangle, a square, a rectangle, polygon) defined by the steering axis and the axis or axes about which the suspension arm rotates. In FIGS. 5A and 5B, spring 305 is exemplified as a helical spring. However, spring 305 may also be a torsion spring coupled to steering arm 306 and having a rotation center about steering axis 312. According to another example arm of steering arm 306 which is not connected to steering actuator 304 includes a resilient portion, such as the resilient portion acts as a spring that applies a load on the steering arm. The resilient portion may be connected to the suspension arm, for example at fixed end 308.sub.2.

[0043] Positioning the horizontal location of a fixed end of at least one of the steering actuators as described above in conjunction with FIGS. 1A-1B, 2A-2B, 3A-3B, 4A-4B and 5A-5B reduces the volume of the suspension and steering mechanism according to the disclosed technique, (i.e., relative to prior art mechanisms). Also, positioning the horizontal location of a fixed end of at least one of the steering actuators as described above increases the range of the steering angle (e.g. on the order of 100 degrees) of the wheel without locking, since the motion action of the steering actuator increases. Also, in this configuration, the suspension arm provides protection to the steering actuators and bump steering is reduced. For example, in FIG. 4A, steering actuator 266.sub.1 is at least partially protected by steering arm 252. Also exemplified in FIG. 4A, steering actuator 266.sub.1 is aligned with steering arm 252, thus reducing bump steering.

[0044] As mentioned above, a steering actuator employed in the suspension and steering mechanism according to the disclosed technique may be a hydraulic actuator. When hydraulic actuators are employed for steering, and hydraulic brakes are employed in the vehicle, the hydraulic reservoir may be shared between, for example, the steering and brakes mechanism. Also, employing hydraulic steering actuators provides design flexibility with regards to the position of the various components of the steering system (i.e., hydraulic reservoir, hydraulic pump and steering actuators) since these components may be hydraulically coupled via pipes. For example, the hydraulic manifold, which is part of the hydraulic circuit of the steering and/or brake actuators, is located in the reference frame. Furthermore, the suspension arm to which the steering actuator is coupled may be with the one that absorbs the least shock energy. For example, the lower suspension arm absorbs most of the shock energy. As such, the steering actuators may be coupled with the upper suspension arm. The steering actuator may also be designed to eliminate self-lock when not actuated, and to enable the actuator when needed. Eliminating the self-lock may provide flexibility in the positioning of the steering actuator, and may act to absorb a portion of the shocks energy. The steering actuator is controlled, for example, with control loops to control the state of the actuator when not actuated, and for changing the steering angle when actuated. As a further example, when hydraulic actuators are employed, a relief valve can be employed to enable or disable the hydraulic actuators.

[0045] It should be noted that the suspension and steering mechanism disclosed elsewhere herein may be part of a wheel assembly or a wheel corner assembly having the suspension and steering mechanism assembled thereto. In some embodiments, for example as shown in FIG. 4A, the wheel assembly includes a sub-frame, and the suspension and steering mechanism is mechanically coupled to the sub-frame.

[0046] It will be appreciated by persons skilled in the art that the disclosed technique is not limited to what has been particularly shown and described hereinabove. Rather the scope of the disclosed technique is defined only by the claims, which follow.