Suspension system

Abstract

A suspension system (400) for supporting a chassis (200) of a vehicle (100). The suspension system (400) includes a suspension unit (442). The suspension unit (442) includes a wheel arm assembly (444) including a first wheel arm (402) having a chassis mount end (410) and a wheel mount end (412). The chassis mount end (410) of the first wheel arm (402) is provided with a chassis mounting member (414), and the chassis mount end (410) of the first wheel arm (402) and the chassis mounting member (414) are pivotable relative to each other about a chassis mount pivot axis (230). The chassis mounting member (414) is configured to support the chassis mount end (410) of the first wheel arm (402) such that the first wheel arm (402) and the chassis mounting member (414) are operable to pivot 180 degrees relative to one another about the chassis mount pivot axis (230).

Description

Technical Field

[0006]

[0001] The present invention relates to a suspension system for a vehicle.

Background Art

[0002] Conventionally, wheeled vehicles and tracked vehicles, particularly vehicles intended for use off public roads, utilize some form of suspension system. The basic function of a suspension system is to attenuate the shocks and vibrations caused by traversing rough terrain, enable the vehicle to cross uneven terrain, maximize the time that all wheels maintain contact with the ground, maintain the grip and control of the vehicle, and / or stabilize the vehicle while traversing rough terrain and during maneuvers such as cornering.

[0003] Conventionally, the basic elements of a suspension system include a swing arm that allows the wheel to move relative to the wheel or the vehicle body, a spring that provides a restoring force, and / or a damper that attenuates the movement of the wheel.

[0004] In addition to these core basics, there are a very diverse number of different suspension layouts designed for different tasks. Some relate to attempts to achieve improved off-road mobility of the vehicle. These designs are tailored to the specific needs of the vehicle platform and thus provide excellent solutions in some areas of performance but are compromised in others.

[0005] Therefore, a suspension system that can operate in a wide range of scenarios, enabling the vehicle to be more sensitive than examples of related technologies and to successfully cope with a wider range of obstacles, terrain, and conditions while maintaining a stable state, is highly desirable.

Summary of the Invention

[0007] Accordingly, a suspension system (400) for supporting the chassis (200) of a vehicle (100) may be provided, the suspension system (400) comprising a suspension unit (442). The suspension unit (442) may comprise a wheel arm assembly (444) comprising a first wheel arm (402) having a chassis mount end (410) and a wheel mount end (412). A chassis mounting member (414) may be provided on the chassis mount end (410) of the first wheel arm (402). The chassis mount end (410) and the chassis mounting member (414) of the first wheel arm (402) may be pivotable relative to each other about a chassis mount pivot axis (230). The chassis mounting member (414) may be configured to support the chassis mounting end (410) of the first wheel arm (402), thereby allowing the first wheel arm (402) and the chassis mounting member (414) to pivot at least 180 degrees relative to each other about the chassis mounting pivot axis (230). A wheel mounting member (416) may be provided on the wheel mounting end (412) of the first wheel arm (402). The wheel mounting end (412) of the first wheel arm (402) and the wheel mounting member (416) may be pivotable relative to each other about the wheel mounting pivot axis (432). The wheel mounting member (416) may be configured to connect with the wheel mount end (412) of the first wheel arm (402), thereby enabling the first wheel arm (402) and the wheel mounting member (416) to pivot at least 180 degrees relative to each other about the wheel mount pivot axis (432).

[0008] A chassis end trunnion (222) may be provided at the chassis mount end (410) of the first wheel arm (402), and the chassis end trunnion (222) is pivotably attached to a chassis mounting member (414), and the chassis end trunnion (222) and the chassis mounting member (414) are pivotable relative to each other about a chassis mount pivot axis (230). The chassis mounting member (414) may be configured to support the chassis mount end (410) of the first wheel arm (402) via the chassis end trunnion (222) such that a gap is maintained around the chassis mount end (410) of the first wheel arm (402) to provide space for the chassis mount end (410) of the first wheel arm (412) to move through.

[0009] A wheel end trunnion (446) may be provided at the wheel mount end (412) of the first wheel arm (402), the wheel end trunnion (446) being pivotably attached to a wheel mounting member (416), the wheel end trunnion (446) and the wheel mounting member (416) being pivotable relative to each other about a wheel mount pivot axis (432), and the wheel mounting member (416) may be configured to support the wheel mount end (412) of the first wheel arm (402) via the wheel end trunnion (446) such that a gap is maintained around the wheel mount end (412) of the first wheel arm (402) to provide space for the wheel mount end (412) of the first wheel arm (402) to move through.

[0010] The chassis mount pivot (230) may be parallel to the wheel mount pivot (432).

[0011] The wheel arm assembly (444) may include a second wheel arm (406), the second wheel arm (406) having a chassis mount end (410) and a wheel mount end (412). The chassis mount end (410) and the chassis mounting member (414) of the second wheel arm (406) may be pivotable relative to each other about a chassis mount pivot axis (230). The chassis mounting member (414) may be configured to support the chassis mount end (410) of the second wheel arm (406), thereby enabling the second wheel arm (406) and the chassis mounting member (414) to pivot at least 180 degrees relative to each other about the chassis mount pivot axis (230). The wheel mount end (412) and the wheel mounting member (416) of the second wheel arm (406) may be pivotable relative to each other about a wheel mount pivot axis (432). The wheel mounting member (416) may be configured to connect with the wheel mount end (412) of the second wheel arm (406), thereby enabling the second wheel arm (406) and the wheel mounting member (416) to pivot at least 180 degrees relative to each other about the wheel mount pivot axis (432).

[0012] A chassis end trunnion (222) may be coupled to the chassis mount end (410) of the second wheel arm (406), and the chassis mounting member (414) may be configured to support the chassis mount end (410) of the second wheel arm (406) via the chassis end trunnion (222) such that a gap is maintained around the chassis mount end (410) of the second wheel arm (406) to provide space for the chassis mount end (410) of the second wheel arm (406) to move through.

[0013] A wheel end trunnion (446) may be coupled to a wheel mount end (412) of a second wheel arm (406), and the wheel mounting member (416) may be configured to support the wheel mount end (412) of the second wheel arm (406) via the wheel end trunnion (446) such that a gap is maintained around the wheel mount end (412) of the second wheel arm (406) to provide space for the wheel mount end (412) of the second wheel arm (406) to move through.

[0014] Wheels (404) for supporting the chassis (200) may be rotatably coupled to wheel mounting members (416).

[0015] A first actuator (470) may be coupled to a first wheel arm (402) and / or a chassis mounting member (414) and be operable to pivot the first wheel arm (402) and the chassis mounting member (414) relative to each other. A second actuator (472) may be coupled to a first wheel arm (402) and / or a wheel mounting member (416) and be operable to pivot the first wheel arm (402) and the wheel mounting member (416) relative to each other.

[0016] The suspension system (400) may further comprise a third actuator (474), one end of which is coupled to a first wheel arm (402), and the other end of which is coupled to a chassis mounting member (414), wherein the third actuator (474) is operable to move the first wheel arm (402) from a first position relative to the chassis (200) to a second position relative to the chassis (200), thereby changing the height of the chassis (200) from the support surface on which the chassis (200) stands.

[0017] A method for controlling the operation of a suspension system (400) for a vehicle (100) may be provided, the suspension system (400) comprising a wheel arm assembly (444) having a first wheel arm (402) having a chassis mount end (410) and a wheel mount end (412), the chassis mount end (410) of the first wheel arm (402) being provided with a chassis mounting member (414), and the chassis mount end (410) of the first wheel arm (402) and the chassis mounting member (414) being chassis mount pivots The first wheel arm (402) and the chassis mounting member (414) are pivotable relative to each other around the drive shaft (230), and the chassis mounting member (414) is configured to support the chassis mount end (410) of the first wheel arm (402), thereby enabling the first wheel arm (402) and the chassis mounting member (414) to pivot at least 180 degrees relative to each other around the chassis mount pivot shaft (230), and the wheel mounting end (412) of the first wheel arm (402) is provided with a wheel mounting member (416), and the wheel mounting end (4 12) The wheel mounting member (416) is pivotable relative to each other about the wheel mount pivot shaft (432), and the wheel mounting member (416) is configured to be coupled to the wheel mount end (412) of the first wheel arm (402), thereby enabling the first wheel arm (402) and the wheel mounting member (416) to pivot at least 180 degrees relative to each other about the wheel mount pivot shaft (432), and the first actuator (470) is coupled to the first wheel arm (402) and / or the chassis mounting member (414), and the first The wheel arm (402) and the chassis mounting member (414) are operable to pivot relative to each other, and the second actuator (472) is coupled to the first wheel arm (402) and / or the wheel mounting member (416), and the first wheel arm (402) and the wheel mounting member (416) are operable to pivot relative to each other, and the method is to operate the first actuator (470) so that the first wheel arm (402) and the chassis mounting member (414) move relative to each other about a chassis mount pivot axis (230),The procedure includes the step of operating a second actuator (472) to move a first wheel arm (402) and a wheel mounting member (416) relative to each other around a wheel mount pivot shaft (432), wherein the first actuator (470) and the second actuator (472) can operate independently of each other.

[0018] The suspension system (400) may further comprise a third actuator (474), one end of which is coupled to a first wheel arm (402), and the other end of which is coupled to a chassis mounting member (414), wherein the third actuator (474) is operable to move the first wheel arm (402) from a first position relative to the chassis (200) to a second position relative to the chassis (200), and the method comprises the step of operating the third actuator (474) to move the first wheel arm (402) from a first position relative to the chassis (200) to a second position relative to the chassis (200), thereby changing the height of the chassis (200) from a support surface on which the chassis (200) stands, wherein the third actuator (474) is operable independently of the first actuator (470) and the second actuator (472).

[0019] A vehicle (100) comprising a chassis (200) having a suspension system (400) according to this disclosure may also be provided.

[0020] The chassis (200) may define a plurality of mounting positions (240) for wheel arm chassis mounting members (414), the mounting positions (240) being spaced apart around the periphery of the chassis (200), and at least some of the mounting positions (240) being coupled to their respective suspension units (442), the chassis (200) defining a substantially four-sided polygonal periphery, and defining mounting positions (240) for wheel arm chassis mounts (220) on the sides of the chassis (200), the mounting positions (240) being located near or at each corner of the chassis (200).

[0021] The mounting positions (240) for the wheel arm chassis mounting member (414) can be spaced apart, and the components of the suspension unit (442) are configured such that, throughout the entire range of motion of the wheel arm (402) and wheel (404), one of the suspension units (442) remains spaced apart from one of the other wheel arms (402) and wheels (404) of another suspension unit (442).

[0022] This configuration enables an agile, lightweight, and versatile platform configured to remain operational across a wide range of scenarios.

[0023] Next, embodiments of the present invention will be described simply as examples with reference to the drawings. [Brief explanation of the drawing]

[0024] [Figure 1] Figure 1 shows the suspension unit according to this disclosure from various angles. [Figure 2] Figure 2 shows the suspension unit according to this disclosure from various angles. [Figure 3] Figure 3 shows the suspension unit according to this disclosure from various angles. [Figure 4] Figure 4 shows the suspension unit according to this disclosure from various angles. [Figure 5] Figure 5 shows the suspension unit according to the present disclosure from various angles. [Figure 6] Figure 6 shows a suspension system comprising a suspension unit coupled to a chassis for forming at least a part of a vehicle. [Figure 7] Figure 7 shows a suspension system comprising a suspension unit coupled to a chassis for forming at least a part of a vehicle. [Figure 8] Figure 8 shows a suspension system comprising a suspension unit coupled to a chassis for forming at least a part of a vehicle. [Figure 9] Figure 9 shows the movement direction of the suspension unit and also shows the standard driving operation mode of the suspension system. [Figure 10] Figure 10 shows the movement direction of the suspension unit and also shows the standard driving operation mode of the suspension system. [Figure 11] Figure 11 shows the movement direction of the suspension unit and also shows the standard driving operation mode of the suspension system. [Figure 12] Figure 12 shows the cross-slope operation mode of the suspension system. [Figure 13] Figure 13 shows the cross-slope operation mode of the suspension system. [Figure 14] Figure 14 shows the cross-slope operation mode of the suspension system. [Figure 15] Figure 15 shows the cross-slope operation mode of the suspension system. [Figure 16] Figure 16 shows the cross-slope operation mode of the suspension system. [Figure 17] Figure 17 shows the in-situ turning operation mode of the suspension system. [Figure 18] Figure 18 shows the in-situ turning operation mode of the suspension system. [Figure 19]Figure 19 shows the in-situ turning motion modes of the suspension system. [Figure 20] Figure 20 shows the in-situ turning operation mode of the suspension system. [Figure 21] Figure 21 shows the in-situ turning operation mode of the suspension system. [Figure 22] Figure 22 shows the gap-crossing operation modes of the suspension system. [Figure 23] Figure 23 shows the gap-crossing operation modes of the suspension system. [Figure 24] Figure 24 shows the gap-crossing operation modes of the suspension system. [Figure 25] Figure 25 shows the gap-crossing operation modes of the suspension system. [Figure 26] Figure 26 shows the gap-crossing operation modes of the suspension system. [Figure 27] Figure 27 shows the suspension system's operation modes for overcoming obstacles. [Figure 28] Figure 28 shows the suspension system's operation modes for overcoming obstacles. [Figure 29] Figure 29 shows the suspension system's operation modes for overcoming obstacles. [Figure 30] Figure 30 shows the suspension system's operation mode for overcoming obstacles. [Figure 31] Figure 31 shows the suspension system's operation mode for overcoming obstacles. [Figure 32] Figure 32 shows the narrow clearance operating modes of the suspension system. [Figure 33] Figure 33 shows the narrow clearance operating modes of the suspension system. [Figure 34] Figure 34 shows the narrow clearance operating modes of the suspension system. [Figure 35] Figure 35 shows the narrow clearance operating modes of the suspension system. [Figure 36] Figure 36 shows the narrow clearance operating modes of the suspension system. [Figure 37] Figure 37 shows the suspension system's retraction operation mode. [Figure 38] Figure 38 shows the suspension system's retraction operation mode. [Figure 39] Figure 39 shows the suspension system's retraction operation mode. [Figure 40] Figure 40 shows the suspension system's retraction operation mode. [Figure 41] Figure 41 shows the suspension system's retraction operation mode. [Figure 42] Figure 42 shows the recovery operation mode of the suspension system. [Figure 43] Figure 43 shows the return operation mode of the suspension system. [Figure 44] Figure 44 shows the recovery operation mode of the suspension system. [Figure 45] Figure 45 shows the recovery operation mode of the suspension system. [Figure 46] Figure 46 shows the return operation mode of the suspension system. [Modes for carrying out the invention]

[0025] This disclosure relates to a suspension system 400, as shown in Figures 1 to 5, for supporting a chassis 200 of a vehicle 100, as shown in Figures 6 to 42. This disclosure may also relate to a vehicle 100 comprising a chassis 200 having the suspension system 400. This disclosure also relates to a method for operating the suspension system 400 for the vehicle 100. The vehicle may be a self-propelled vehicle. This disclosure incorporates by reference the subject matter of a concurrently pending patent application, “GUN TARGETING SYSTEM,” filed on the same day by the same applicant.

[0026] As shown in Figures 6 to 8, the chassis 200 and / or vehicle 100 extend along the x-axis, with the first end 202 and the second end 204 of the chassis 200 spaced apart from each other along the x-axis. The chassis 200 also extends along the y-axis, with the first side 206 and the second side 208 of the chassis 200 spaced apart from each other along the y-axis. The x-axis is perpendicular to the y-axis.

[0027] The x-axis defines the chassis roll axis 210. The y-axis defines the chassis pitch axis 212. The z-axis defines the chassis yaw axis 214, and the z-axis is perpendicular to the x-axis and y-axis.

[0028] As shown in Figures 6 to 8, the chassis 200 defines mounting positions 240 for the wheel arm chassis mounting members 414 of the suspension unit 442 of the suspension system 400, and the suspension unit 442 is coupled to the mounting positions 240. That is, the suspension system 400 comprises at least one suspension unit 442. In the example shown, the chassis 200 may define a plurality of mounting positions 240 for the wheel arm chassis mounting members 414, the mounting positions 240 are spaced apart around the periphery of the chassis 200, and at least some of the mounting positions 240 are coupled to their respective suspension units 442.

[0029] In the example shown, the chassis 200 defines a substantially polygonal periphery, and the mounting positions 240 are located near or at each corner of the chassis 200. In the example shown, the chassis 200 defines a substantially four-sided polygonal periphery, and the mounting positions 240 for the wheel arm chassis mounts 220 are defined on opposing sides 206, 208 of the chassis 200. However, other shapes of the chassis 200 may also be provided. The mounting positions 204 and / or chassis mounts 220 may extend away from the body of the chassis 200 (for example, provided as structural bosses) to space the connection points with the suspension unit 442 away from the sides 206, 208 of the chassis 200.

[0030] In the example shown, the suspension units 442 are located near (but not necessarily at) each corner of the chassis 200. Therefore, in the example shown, there are four suspension units 442. In other examples, the vehicle 100 may be fitted with more than four suspension units. The vehicle is fitted with at least one suspension unit 442.

[0031] The suspension system 400 is configured to support the chassis 200 of the vehicle 100 above a support surface (e.g., the ground, a track, a road, or another surface).

[0032] As shown in Figures 1 to 5 and Figures 6 to 8, the suspension unit 442 includes a wheel arm assembly 444 having a first wheel arm 402 having a chassis mount end 410 adjacent to the chassis 200 when in use and a wheel mount end 412 to which a wheel 404 can be attached to support the chassis 200.

[0033] As shown in Figures 1 to 5, a chassis mounting member 414 (for example, a bracket for attachment to the chassis 200) may be provided on the chassis mounting end 410 of the first wheel arm 402, and the chassis mounting end 410 of the first wheel arm 402 and the chassis mounting member 414 are pivotable relative to each other around the chassis mounting pivot axis 230. As shown in Figure 9, the chassis mounting member 414 is configured to support (for example, to connect with) the chassis mounting end 410 of the first wheel arm 402, thereby enabling the first wheel arm 402 and the chassis mounting member 414 to pivot relative to each other by at least 180 degrees around the chassis mounting pivot axis 230. That is, the chassis mounting member 414 is configured to connect with the chassis mounting end 410 of the first wheel arm 402, thereby enabling the first wheel arm 402 and the chassis mounting member 414 to pivot relative to each other by at least 180 degrees around the chassis mounting pivot axis 230.

[0034] Furthermore, as shown in Figures 1 to 5, a wheel mounting member 416 (for example, a knuckle for attachment to a wheel) is provided at the wheel mount end 412 of the first wheel arm 402, and the wheel mount end 412 of the first wheel arm 402 and the wheel mounting member 416 are pivotable relative to each other around the wheel mount pivot axis 432. As shown in Figure 10, the wheel mounting member 416 is configured to support the wheel mount end 412 of the first wheel arm 402 (for example, to connect with the wheel mount end 412), thereby enabling the first wheel arm 402 and the wheel mounting member 416 to pivot relative to each other by at least 180 degrees around the wheel mount pivot axis 432.

[0035] As shown in Figure 4, a chassis end trunnion 222 is provided at the chassis mount end 410 of the first wheel arm 402 (for example, coupled to the chassis mount end 410), and the chassis end trunnion 222 is pivotally attached to a chassis mounting member 414, and the chassis end trunnion 222 and the chassis mounting member 414 are pivotable relative to each other about a chassis mount pivot axis 230. The chassis mounting member 414 is configured to support the chassis mount end 410 of the first wheel arm 402 via the chassis end trunnion 222 (for example, coupled to the chassis mount end 410), such that a gap is maintained around the chassis mount end 410 of the first wheel arm 402. That is, a gap is maintained between the chassis mount end 410 of the first wheel arm 402 and the chassis mounting member 414 and / or chassis 200 to provide space for the chassis mount end 410 of the first wheel arm end 412 to move through. The chassis end trunnion 222 is pivotable around the chassis mount pivot shaft 230.

[0036] As shown in Figure 4, a wheel end trunnion 446 is provided at the wheel mount end 412 of the first wheel arm 402 (for example, coupled to the wheel mount end 412), and the wheel end trunnion 446 is pivotably attached to a wheel mounting member 416, and the trunnion and the wheel mounting member 416 are pivotable relative to each other about the wheel mount pivot axis 432. The wheel mounting member 416 is configured to support the wheel mount end 412 of the first wheel arm 402 via the wheel end trunnion 446 (for example, coupled to the wheel mount end 412) such that a gap is maintained around the wheel mount end 412 of the first wheel arm 402 to provide space for the wheel mount end 412 of the first wheel arm 402 to move through. In other words, a gap is maintained between the wheel mount end 412 of the first wheel arm 402 and the wheel mounting member 416 and / or wheel 404 in order to provide space for the wheel mount end 412 of the first wheel arm 402 to pass through and move.

[0037] The wheel end trunnions 446 are pivotable around the wheel mount pivot 432. The chassis mount pivot 230 is parallel to the wheel mount pivot 432. The chassis mount pivot 230 can be aligned with the z-axis (for example, it can be parallel).

[0038] As shown in the figure, the wheel arm assembly 444 may include a second wheel arm 406, the second wheel arm 406 having a chassis mount end 410 and a wheel mount end 412. That is, the first wheel arm 402 and the second wheel arm 406 define the chassis mount end 410 and the wheel mount end 412 of the wheel arm assembly 444.

[0039] The chassis mount end 410 of the second wheel arm 406 and the chassis mounting member 414 are pivotable relative to each other about the chassis mount pivot axis 230. The chassis mounting member 414 is configured to support the chassis mount end 410 of the second wheel arm 406, thereby enabling the second wheel arm 406 and the chassis mounting member 414 to pivot relative to each other by at least 180 degrees about the chassis mount pivot axis 230.

[0040] The wheel mount end 412 of the second wheel arm 406 and the wheel mounting member 416 are pivotable relative to each other about the wheel mount pivot axis 432, and the wheel mounting member 416 is configured to support (for example, connect with) the wheel mount end 412 of the second wheel arm 406, thereby enabling the second wheel arm 406 and the wheel mounting member 416 to pivot relative to each other by at least 180 degrees about the wheel mount pivot axis 432.

[0041] The chassis end trunnion 222 is coupled to the chassis mount end 410 of the second wheel arm 406, and the chassis mounting member 414 is configured to support (e.g., couple with) the chassis mount end 410 of the second wheel arm 406 via the chassis end trunnion 222, such that a gap is maintained around the chassis mount end 410 of the second wheel arm 406 to provide space for the chassis mount end 410 of the second wheel arm 406 to move through. That is, a gap is maintained between the chassis mount end 410 of the second wheel arm 406 and the chassis mounting member 414 and / or chassis 200 to provide space for the chassis mount end 410 of the second wheel arm 406 to move through.

[0042] The wheel end trunnion 446 is coupled to the wheel mount end 412 of the second wheel arm 406, and the wheel mounting member 416 is configured to support (e.g., couple with) the wheel mount end 412 of the second wheel arm 406 via the wheel end trunnion 446 such that a gap is maintained around the wheel mount end 412 of the second wheel arm 406. That is, the second wheel arm 406 wheel Mounting end 412 A gap is maintained between the wheel mounting end 412 of the second wheel arm 406 and the wheel mounting member 416 and / or wheel 404 to provide space for the wheel to pass through and move. The wheels 404 (or each wheel 404) for supporting the chassis 200 are rotatably coupled to their respective wheel arms 402 via the wheel mounting member 416. Thus, the first wheel arm 402 and the second wheel arm 406 and the wheel 404 are operable to pivot at least 180 degrees relative to each other about the wheel mount pivot axis 432.

[0043] As shown in Figure 5, the first actuator 470 may be connected to the first wheel arm 402, the second wheel arm 406 and / or the chassis mounting member 414, and may be able to operate so that the pair of wheel arms 402, 406 and the chassis mounting member 414 pivot relative to each other around the chassis mount pivot axis 230. The second actuator 472 may be connected to the first wheel arm 402, the second wheel arm 406 and / or the wheel mounting member 416, and may be able to operate so that the pair of wheel arms 402, 406 and the wheel mounting member 416 pivot relative to each other around the wheel mount pivot axis 432.

[0044] That is, the first wheel arm 402 and the second wheel arm 406 can be mounted to the chassis mount 220 and / or chassis mounting position 240 (for example, via the chassis mounting member 414) such that the first wheel arm 402 and the second wheel arm 406 can be operated to pivot at least 180 degrees relative to the chassis mount 220 and / or chassis mounting position 240. The chassis mounting member 414 and the wheel arms 402, 406 may be operated to pivot at least 180 degrees and / or 200 degrees relative to each other. The chassis mounting member 414 and the wheel arms 402, 406 may be operated to pivot at least 180 degrees and / or 190 degrees relative to each other. For example, the chassis mounting members 414, chassis mounts 220 and / or chassis mounting positions 240 can space the chassis ends of the wheel arms 402 and 406 away from the sides of the chassis 200, thereby allowing the wheel arms 402 and 406 to be parallel to the chassis 200 (e.g., extending parallel to the x-axis and / or extending in a direction having a component parallel to the x-axis), or to extend toward the chassis 200 from their chassis mount ends (e.g., angled 95 degrees with respect to the y-axis and / or extending in a direction having a component angled 95 degrees with respect to the y-axis). The wheel arms 402 and 406 and the chassis mounts 220 may be pivotable relative to each other about an axis parallel to the z-axis and / or a vertical axis. Each chassis mounting member 414 may be equipped with a universal joint.

[0045] In other words, the ability of wheel arms 402, 406 that fold relative to the chassis 200 (e.g., extending parallel to the x-axis and / or in a direction having a component parallel to the x-axis) and extend toward the chassis 200 from their chassis mount ends (e.g., extending in a direction angled 95 degrees with respect to the y-axis and / or in a direction having a component angled 95 degrees with respect to the y-axis) can be partially enabled by mounting positions 204 and / or chassis mounts 220 that extend away from the body of the chassis 200 (e.g., provided as structural bosses) to space the connection points with the suspension unit 442 away from the sides 206, 208 of the chassis 200.

[0046] The mounting positions 240 for the wheel arm chassis mounting member 414 are spaced apart, and the components of the suspension unit 442 are configured such that, throughout the entire range of motion of a pair of wheel arms 402, 406 and wheel 404, one of the suspension units 442 remains spaced apart from any one of the other pair of wheel arms 402, 406 and wheel 404 of another suspension unit 442.

[0047] Each wheel mounting member 416 is configured to connect with the wheel mount end 412 of the wheel arms 402, 406, thereby enabling the wheel arms 402, 406 and the wheel mounting member 416 (and thus the wheel 404) to pivot at least 180 degrees relative to each other around the wheel mount pivot axis 432. Each pair of wheel arms 402, 406 and their respective wheel mounting members 416 (and thus the wheel 404) may be able to pivot at least 180 degrees and not exceeding 200 degrees relative to each other around the wheel mount pivot axis 432. Each pair of wheel arms 402, 406 and their respective wheel mounting members 416 (and thus the wheel 404) may be able to pivot at least 180 degrees and not exceeding 190 degrees relative to each other around the wheel mount pivot axis 432. Each wheel mounting member 416 may be equipped with a universal joint 420.

[0048] The chassis mount pivot 230 may be parallel to the wheel mount pivot 432. The chassis mount pivot 230 may be aligned with the z-axis (for example, it may be parallel).

[0049] As shown in Figures 1 to 5, the suspension system 400 may further include a third actuator 474, one end of which is coupled to the first wheel arm 402 (and / or the second wheel arm 406), and the other end of which is coupled to the chassis mounting member 414.

[0050] As shown in Figure 4, the chassis mount ends 410 of the first wheel arm 402 and the second wheel arm 406 are rotatably mounted on the chassis end trunnions 222 such that the first wheel arm 402 and the second wheel arm 406 can each rotate around their respective chassis suspension shafts 250, which extend perpendicular to the chassis mount pivot shaft 230. Specifically, the first wheel arm 402 is rotatable around the first chassis suspension shaft 250-1, and the second wheel arm 406 is rotatable around the second chassis suspension shaft 250-2, with the first chassis suspension shaft 250-1 being offset from and parallel to the second chassis suspension shaft 250-2.

[0051] As shown in Figure 4, the wheel mount ends 412 of the first wheel arm 402 and the second wheel arm 406 are rotatably mounted on the wheel end trunnions 446 so that the first wheel arm 402 and the second wheel arm 406 can each rotate around their respective wheel suspension shafts 450, which extend perpendicular to the wheel mount pivot shaft 432. That is, the first wheel arm 402 is rotatable around the first wheel suspension shaft 450-1, and the second wheel arm 406 is rotatable around the second wheel suspension shaft 450-2, with the first wheel suspension shaft 450-1 being offset from and parallel to the second wheel suspension shaft 450-2.

[0052] The third actuator 474 may be operable to move the first wheel arm 402 and the second wheel arm 406 from a first position relative to the chassis 200 to a second position relative to the chassis 200, thereby changing the height of the chassis 200 from the support surface on which the chassis 200 stands. The third actuator 474 may also be operable as a spring damper and may be equipped with a hydro strut, a magnetorheological damper, or other suitable damping solution. That is, the third actuator 474 may be operable to pivot the first wheel arm 402 and the second wheel arm 406 relative to the chassis 200 around chassis suspension axes 250-1, 250-2 (i.e., axes aligned with and / or parallel to the plane defined by the x and y axes, as shown in Figures 6, 8, 10, and 11). This arrangement is configured such that the first wheel arm 402 and the second wheel arm 406 can rotate relative to the wheel mounting member 416 around the wheel suspension axes 450-1 and 450-2.

[0053] The first wheel arm 402 and the second wheel arm 406 are mounted to each other as shown above, such that they remain parallel to each other when the height of the chassis 200 from the support surface (i.e., ride height) changes.

[0054] Therefore, the suspension system 400 comprises a pair of long cantilevered wheel arms 402, 406. The wheel arms 402 are attached to the chassis 200 via a pair of movable universal joints 470, 472 on shafts 222, 446. These joints allow movement of approximately ±95° from the neutral position, i.e., perpendicular to the vehicle 100.

[0055] At the wheel assembly end 412, the wheel 404 is mounted on the second shaft 222 via an actuating knuckle 416. This coupling allows for motion of approximately ±95° from the neutral position, i.e., perpendicular to the vehicle 100 (i.e., aligned with and / or parallel to the y-axis).

[0056] Vertical motion is actuated, resisted, and controlled (as needed in a given scenario) by an integrated spring damper assembly 474. This joint allows for motion of approximately ±45° from the horizontal position.

[0057] At least one wheel 404 is coupled to a drive system 700 to rotate the wheel 404 or each wheel 404 relative to its respective wheel arm 402, thereby moving the chassis 200 from one position to another.

[0058] The mounting arrangement of the first wheel arm 402 and the second wheel arm 406 allows the orientation of the wheels relative to the chassis 200 to be maintained when the wheel arms 402 and 406 are raised or lowered by the third actuator 474.

[0059] The wheel drive system 700 comprises wheels 404 or actuators 702 coupled to each wheel 404, and each wheel drive actuator 702 is capable of operating independently of the other wheel drive actuators 702.

[0060] A method for controlling the operation of the suspension system 400 of the present disclosure may be provided. This method may comprise the steps of: operating a first actuator 470 to move a first wheel arm 402 and a chassis mounting member 414 relative to each other about a chassis mounting pivot 230; and operating a second actuator 472 to move a first wheel arm 402 and a wheel mounting member 416 relative to each other about a wheel mounting pivot 432. The first actuator 470 and the second actuator 472 may be controlled to operate independently of each other (i.e., be operable).

[0061] This method may include the step of operating a third actuator 474 to move the first wheel arm 402 from a first position relative to the chassis 200 to a second position relative to the chassis 200, thereby changing the height of the chassis 200 from the support surface on which the chassis 200 stands (i.e., moving the wheel 404 in a direction having a z-axis component). The third actuator 474 may be controlled to operate independently of the first actuator 470 and the second actuator 472 (i.e., be operable).

[0062] For example, as shown in the figure, when four suspension units 442 are combined on a suitable vehicle chassis 200, a wide range of functionality becomes possible, providing advantages over prior art.

[0063] For example, the arrangement of this disclosure enables combinations of operating modes that were not possible with solutions of related technologies, including: a. Standard driving mode (shown in Figures 9, 10, and 11), in which the wheel arm assembly 444 extends and is angled away from the chassis 200, and the wheels 404 are aligned in the direction of travel and / or used to turn the vehicle. b. Slope crossing mode (shown in Figures 12-16), in this mode, the wheel arm assembly 444 on one side of the chassis 200 extends further and is higher relative to the chassis 200 than the one on the other side of the chassis 200, thereby enabling the vehicle 100 to cross a slope while maintaining the chassis in a flat (or at least nearly flat) state. c. In-place turning mode (shown in Figures 17-21), in which the wheels 404 are angled relative to each other to guide the vehicle 100 to rotate around the z-axis (for example, it can be steered / rotated in place without skid steering). d. Gap Crossing Mode (shown in Figures 22-26): In this mode, a wide gap can be crossed by using a preferred series of movements, for example, by lifting the leading wheel arm assembly 444 and approaching the gap at approximately 45°, then straightening the vehicle and repeating the process for the trailing wheels. e. Step-climbing mode (shown in Figures 27 to 31), in this mode, large steps (larger than approximately half the wheel diameter) can be overcome by using a suitable series of movements, approaching the step with the leading wheel arm assembly 444 lifted. f. Narrow gap mode (shown in Figures 32-36): In this mode, the wheel arm assemblies 444 are pulled in such a way that they are nearly aligned with the edge of the chassis 200, with the front wheel arm assembly 444 extending forward in front of the chassis and the rear wheel arm assembly 444 extending rearward behind the chassis. In this configuration, the vehicle 100 can pass through a gap narrower than that the standard running width (shown in Figures 9-11) would allow by over-rotating the wheel arm assemblies 444. g. Storage mode (shown in Figures 37-41), in this mode, the wheel arm assemblies 444 are pulled in so as to be nearly aligned with the edge of the chassis 200, with the front wheel arm assemblies 444 extending rearward and the rear wheel arm assemblies 444 extending forward, so that the vehicle 100 can be stored / transported in a smaller space by folding the wheels. h. Recovery mode (shown in Figures 42-45), in which, when one of a pair of wheel arm assemblies 444 (for example, one of the front or rear wheel arm assemblies) is removed or damaged, the remaining wheel arm assembly 444 of this pair is pulled closer to the chassis and extends away from the adjacent edge of the chassis so that the vehicle 100 is still balanced and drivable (albeit very slowly). i. Walking mode: For example, in cases where the entire wheel drive system 700 is unusable or the terrain is too rough to traverse by driving the wheels, a "walking mode" is possible in which the wheel arm assembly 444 lifts and moves each wheel individually.

[0064] Additionally, the lateral stability of vehicle 100 may be improved by maximizing the distance between the wheels (maximizing the wheelbase) (not shown). Raising all suspension units 442 to their maximum height may increase the minimum ground clearance on uneven terrain / ups without the risk of the chassis grounding out. Lowering all suspension units 442 to their minimum height may allow vehicle 100 to pass under lower objects.

[0065] The height of the wheels relative to the vehicle 100 can be controlled independently for each wheel. Individual wheels can be lifted off the ground. The angle of each wheel arm 402 with respect to the direction of travel of the vehicle 100 can vary from an over-rotated leading arm to an over-rotated trailing arm. The angle of the wheels relative to the wheel arms 402 and / or chassis 200 can be fully rotated so that any wheel direction can be achieved without repositioning the vehicle 100.

[0066] This arrangement can provide stability by extending the wheels 404 of the vehicle 100 away from the chassis, thus enabling a solution for an agile and lightweight vehicle platform, and thereby providing a compact platform that can be stabilized by the relative positioning of the chassis 200 and the wheel arm assembly 444.

[0067] Modular design allows the same assembly to be used in any position on a vehicle, reducing manufacturing and maintenance costs.

[0068] Additionally, the numerous operating modes provided by the suspension unit 442 offer an agile and versatile platform configured to remain operational in a wide range of scenarios.

[0069] A key advantage of the suspension system 400 of this disclosure is that providing a suspension unit 442 offers a substantially modular solution, in that a single design of the suspension unit 442 can be provided at any position on the vehicle 100. This simplifies manufacturing, assembly, control, and maintenance.

[0070] Another advantage of the suspension system is that, when mounted on vehicle 100, vehicle 100 can be towed by and / or followed by any vehicle without issue by adapting to the wheelbase of the preceding vehicle. Wheelbase adaptation is often a significant limitation for vehicles intended to be towed or used in a convoy, as the following vehicle 100 must be drivable in the ruts (on surfaces such as snow or mud) left by the preceding vehicle 100.

[0071] While it is possible for a vehicle to have more than four wheel arm assemblies 230 (i.e., one pair in the front and one in the rear), the need to maintain the chassis length within a certain limit to provide maneuverability means that each wheel arm assembly 444 must be able to pivot at least 180 degrees relative to the chassis 200. Therefore, any more than two pairs of wheel arm assemblies can result in a chassis of impractical length, and the more wheel arm assemblies 444 there are, the longer the required chassis length becomes. Thus, a system with four wheel arm assemblies 444 may be optimal.

[0072] Attention is drawn to all documents and literature filed concurrently with or prior to this specification in connection with this application and made available to the public together with this specification, and the contents of all such documents and literature are incorporated herein by reference.

[0073] All features disclosed herein (including any appended claims, abstracts, and drawings) and / or all steps of any method or process so so disclosed may be combined in any combination, except for any combination in which at least some of such features and / or steps are mutually exclusive.

[0074] Each feature disclosed herein (including any attached claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose unless otherwise specified. Accordingly, unless otherwise specified, each disclosed feature is merely an example of a comprehensive set of equivalent or similar features.

[0075] The present invention is not limited to the details of the embodiments described above. The present invention extends to any novel one or any novel combination of features disclosed herein (including any appended claims, abstract and drawings), or any novel one or any novel combination of steps of any method or process so so disclosed. The invention described in the original claims of this application is listed below. [1] A suspension system for supporting the chassis of a vehicle, wherein the suspension system comprises a suspension unit, and the suspension unit is A wheel arm assembly comprising a first wheel arm having a chassis mount end and a wheel mount end, A chassis mounting member is provided at the chassis mount end of the first wheel arm, and the chassis mount end of the first wheel arm and the chassis mounting member are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm, thereby enabling the first wheel arm and the chassis mounting member to pivot at least 180 degrees relative to each other about the chassis mount pivot axis. A wheel mounting member is provided at the wheel mount end of the first wheel arm, the wheel mount end of the first wheel arm and the wheel mounting member are pivotable relative to each other about a wheel mount pivot axis, and the wheel mounting member is configured to connect with the wheel mount end of the first wheel arm, thereby enabling the first wheel arm and the wheel mounting member to pivot at least 180 degrees relative to each other about the wheel mount pivot axis, in a suspension system. [2] The suspension system according to [1], wherein a chassis end trunnion is provided at the chassis mount end of the first wheel arm, the chassis end trunnion is pivotably attached to the chassis mounting member, the chassis end trunnion and the chassis mounting member are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm via the chassis end trunnion such that a gap is maintained around the chassis mount end of the first wheel arm to provide space for the chassis mount end of the first wheel arm to move through. [3] A suspension system according to [1] or [2], wherein a wheel end trunnion is provided at the wheel mount end of the first wheel arm, the wheel end trunnion is pivotably attached to the wheel mounting member, the wheel end trunnion and the wheel mounting member are pivotable relative to each other about the wheel mount pivot axis, and the wheel mounting member is configured to support the wheel mount end of the first wheel arm via the wheel end trunnion such that a gap is maintained around the wheel mount end of the first wheel arm to provide space for the wheel mount end of the first wheel arm to move through. [4] The suspension system according to any one of [1] to [3], wherein the chassis mount pivot axis is parallel to the wheel mount pivot axis. [5] The wheel arm assembly comprises a second wheel arm, the second wheel arm having a chassis mount end and a wheel mount end, The chassis mount end and chassis mounting member of the second wheel arm are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the second wheel arm, thereby enabling the second wheel arm and chassis mounting member to pivot at least 180 degrees relative to each other about the chassis mount pivot axis. The suspension system according to any one of [1] to [4], wherein the wheel mount end and wheel mounting member of the second wheel arm are pivotable relative to each other about the wheel mount pivot axis, and the wheel mounting member is configured to be coupled to the wheel mount end of the second wheel arm, thereby enabling the second wheel arm and wheel mounting member to pivot at least 180 degrees relative to each other about the wheel mount pivot axis. [6] The suspension system according to [5], as dependent on [2], wherein the chassis end trunnion is coupled to the chassis mount end of the second wheel arm, and the chassis mounting member is configured to support the chassis mount end of the second wheel arm via the chassis end trunnion such that a gap is maintained around the chassis mount end of the second wheel arm in order to provide space for the chassis mount end of the second wheel arm to move through. [7] The suspension system according to [5] or [6], as dependent on [3], wherein the wheel end trunnion is coupled to the wheel mount end of the second wheel arm, and the wheel mounting member is configured to support the wheel mount end of the second wheel arm via the wheel end trunnion such that a gap is maintained around the wheel mount end of the second wheel arm to provide space for the chassis mount end of the second wheel arm to move through. [8] The suspension system according to any one of [1] to [7], wherein a wheel for supporting the chassis is rotatably coupled to the wheel mounting member. [9] A first actuator is coupled to the first wheel arm and / or chassis mounting member and is operable to pivot the first wheel arm and the chassis mounting member relative to each other. A suspension system according to any one of [1] to [8], wherein a second actuator is coupled to the first wheel arm and / or wheel mounting member and is operable to pivot the first wheel arm and the wheel mounting member relative to each other.

[10] The suspension system according to any one of [1] to [9], further comprising a third actuator, one end of which is coupled to the first wheel arm and the other end of which is coupled to the chassis mounting member, wherein the third actuator is operable to move the first wheel arm from a first position relative to the chassis to a second position relative to the chassis, thereby changing the height of the chassis from a support surface on which the chassis stands.

[11] A method for controlling the operation of a vehicle suspension system, wherein the suspension system is A wheel arm assembly comprising a first wheel arm having a chassis mount end and a wheel mount end, A chassis mounting member is provided at the chassis mount end of the first wheel arm, and the chassis mount end of the first wheel arm and the chassis mounting member are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm, thereby enabling the first wheel arm and the chassis mounting member to pivot at least 180 degrees relative to each other about the chassis mount pivot axis. A wheel mounting member is provided at the wheel mount end of the first wheel arm, and the wheel mount end of the first wheel arm and the wheel mounting member are pivotable relative to each other about the wheel mount pivot axis, and the wheel mounting member is configured to be coupled to the wheel mount end of the first wheel arm, thereby enabling the first wheel arm and the wheel mounting member to operate to pivot at least 180 degrees relative to each other about the wheel mount pivot axis. The first actuator is coupled to the first wheel arm and / or chassis mounting member and is operable to pivot the first wheel arm and the chassis mounting member relative to each other. A second actuator is coupled to the first wheel arm and / or wheel mounting member and is capable of pivoting the first wheel arm and wheel mounting member relative to each other. The aforementioned method, The steps include operating the first actuator to move the first wheel arm and the chassis mounting member relative to each other around the chassis mount pivot axis, The process includes the step of operating the second actuator to move the first wheel arm and the wheel mounting member relative to each other around the wheel mount pivot axis, A control method wherein the first actuator and the second actuator are capable of operating independently of each other.

[12] The suspension system further comprises a third actuator, one end of which is coupled to the first wheel arm, and the other end of which is coupled to the chassis mounting member, and the third actuator is operable to move the first wheel arm from a first position relative to the chassis to a second position relative to the chassis. The aforementioned method, The procedure includes the step of operating the third actuator to move the first wheel arm from a first position relative to the chassis to a second position relative to the chassis, thereby changing the height of the chassis from the support surface on which the chassis stands, The control method according to

[11] , wherein the third actuator is operable independently of the first actuator and the second actuator.

[13] A vehicle having a chassis having a suspension system as described in any one of the items [1] to

[10] .

[14] The vehicle according to

[13] , wherein the chassis defines a plurality of mounting positions for wheel arm chassis mounting members, the mounting positions are spaced apart around the periphery of the chassis, at least some of the mounting positions are coupled to the respective suspension units, the chassis defines a substantially four-sided polygonal periphery, and the mounting positions for wheel arm chassis mounts on the sides of the chassis, the mounting positions are located near or at the corners of the chassis.

[15] The mounting positions for the wheel arm chassis mounting member are spaced apart, and the components of the suspension unit are configured such that any one of the suspension units remains spaced apart from any one of the other wheel arms and wheels of another suspension unit over the entire range of motion of the wheel arm and wheel, as in the vehicle according to

[14] .

Claims

1. A suspension system for supporting the chassis of a vehicle, wherein the suspension system comprises a suspension unit, and the suspension unit is The wheel arm assembly comprises a first wheel arm having a chassis mount end and a wheel mount end, A chassis mounting member is provided at the chassis mount end of the first wheel arm, and the chassis mount end of the first wheel arm and the chassis mounting member are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm, thereby enabling the first wheel arm and the chassis mounting member to pivot at least 180 degrees relative to each other about the chassis mount pivot axis. A wheel mounting member is provided at the wheel mount end of the first wheel arm, the wheel mount end of the first wheel arm and the wheel mounting member are pivotable relative to each other about a wheel mount pivot axis, and the wheel mounting member is configured to connect with the wheel mount end of the first wheel arm, thereby enabling the first wheel arm and the wheel mounting member to pivot at least 180 degrees relative to each other about the wheel mount pivot axis, in a suspension system.

2. The suspension system according to claim 1, wherein a chassis end trunnion is provided at the chassis mount end of the first wheel arm, the chassis end trunnion is pivotably attached to the chassis mounting member, the chassis end trunnion and the chassis mounting member are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm via the chassis end trunnion such that a gap is maintained around the chassis mount end of the first wheel arm to provide space for the chassis mount end of the first wheel arm to move through.

3. The suspension system according to claim 2, wherein a wheel end trunnion is provided at the wheel mount end of the first wheel arm, the wheel end trunnion is pivotably attached to the wheel mounting member, the wheel end trunnion and the wheel mounting member are pivotally movable relative to each other about the wheel mount pivot axis, and the wheel mounting member is configured to support the wheel mount end of the first wheel arm via the wheel end trunnion such that a gap is maintained around the wheel mount end of the first wheel arm to provide space for the wheel mount end of the first wheel arm to move through.

4. The suspension system according to claim 3, wherein the chassis mount pivot axis is parallel to the wheel mount pivot axis.

5. The wheel arm assembly comprises a second wheel arm, the second wheel arm having a chassis mount end and a wheel mount end, The chassis mount end and chassis mounting member of the second wheel arm are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the second wheel arm, thereby enabling the second wheel arm and chassis mounting member to pivot at least 180 degrees relative to each other about the chassis mount pivot axis. The suspension system according to claim 4, wherein the wheel mount end and wheel mounting member of the second wheel arm are pivotable relative to each other about the wheel mount pivot axis, and the wheel mounting member is configured to be coupled to the wheel mount end of the second wheel arm, thereby enabling the second wheel arm and wheel mounting member to pivot at least 180 degrees relative to each other about the wheel mount pivot axis.

6. The suspension system according to claim 5, wherein the chassis end trunnion is coupled to the chassis mount end of the second wheel arm, and the chassis mounting member is configured to support the chassis mount end of the second wheel arm via the chassis end trunnion such that a gap is maintained around the chassis mount end of the second wheel arm to provide space for the chassis mount end of the second wheel arm to move through.

7. The suspension system according to claim 6, wherein the wheel end trunnion is coupled to the wheel mount end of the second wheel arm, and the wheel mounting member is configured to support the wheel mount end of the second wheel arm via the wheel end trunnion such that a gap is maintained around the wheel mount end of the second wheel arm to provide space for the wheel mount end of the second wheel arm to move through.

8. The suspension system according to claim 1, wherein a wheel for supporting the chassis is rotatably coupled to the wheel mounting member.

9. The first actuator is coupled to the first wheel arm and / or chassis mounting member and is capable of pivoting the first wheel arm and chassis mounting member relative to each other. The suspension system according to claim 1, wherein a second actuator is coupled to the first wheel arm and / or wheel mounting member and is operable to pivot the first wheel arm and the wheel mounting member relative to each other.

10. The suspension system according to claim 1, further comprising a third actuator, one end of which is coupled to the first wheel arm, and the other end of which is coupled to the chassis mounting member, wherein the third actuator is operable to move the first wheel arm from a first position relative to the chassis to a second position relative to the chassis, thereby changing the height of the chassis from a support surface on which the chassis stands.

11. A control method for operating a vehicle suspension system, wherein the suspension system is The wheel arm assembly comprises a first wheel arm having a chassis mount end and a wheel mount end, A chassis mounting member is provided at the chassis mount end of the first wheel arm, and the chassis mount end of the first wheel arm and the chassis mounting member are pivotable relative to each other about the chassis mount pivot axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm, thereby enabling the first wheel arm and the chassis mounting member to pivot at least 180 degrees relative to each other about the chassis mount pivot axis. A wheel mounting member is provided at the wheel mount end of the first wheel arm, and the wheel mount end of the first wheel arm and the wheel mounting member are pivotable relative to each other about the wheel mount pivot axis, and the wheel mounting member is configured to be coupled to the wheel mount end of the first wheel arm, thereby enabling the first wheel arm and the wheel mounting member to operate to pivot at least 180 degrees relative to each other about the wheel mount pivot axis. The first actuator is coupled to the first wheel arm and / or chassis mounting member and is capable of pivoting the first wheel arm and chassis mounting member relative to each other. A second actuator is coupled to the first wheel arm and / or wheel mounting member and is capable of pivoting the first wheel arm and wheel mounting member relative to each other. The aforementioned method, The first step is to operate the first actuator so as to move the first wheel arm and the chassis mounting member relative to each other around the chassis mount pivot axis, The process includes the step of operating the second actuator to move the first wheel arm and the wheel mounting member relative to each other around the wheel mount pivot axis, A control method in which the first actuator and the second actuator are capable of operating independently of each other.

12. The suspension system further comprises a third actuator, one end of which is coupled to the first wheel arm, and the other end of which is coupled to the chassis mounting member, and the third actuator is operable to move the first wheel arm from a first position relative to the chassis to a second position relative to the chassis. The aforementioned method, The procedure includes the step of operating the third actuator to move the first wheel arm from a first position relative to the chassis to a second position relative to the chassis, thereby changing the height of the chassis from the support surface on which the chassis stands, The control method according to claim 11, wherein the third actuator is operable independently of the first actuator and the second actuator.

13. A vehicle comprising a chassis having the suspension system according to any one of claims 1 to 10.

14. The vehicle according to claim 13, wherein the chassis defines a plurality of mounting positions for chassis mounting members, the mounting positions are spaced apart around the periphery of the chassis, at least some of the mounting positions are coupled to their respective suspension units, the chassis defines a substantially four-sided polygonal periphery, and defines mounting positions for wheel arm chassis mounts on the sides of the chassis, the mounting positions are provided near or at each corner of the chassis.

15. The vehicle according to claim 14, wherein the mounting positions for the chassis mounting member are spaced apart, and the components of the suspension unit are configured such that any one of the suspension units remains spaced apart from any one of the other wheel arms and wheels of another suspension unit over the entire range of motion of the wheel arms and wheels.

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