Articulated vehicle suspension system shoulder joint
An articulated vehicle suspension system shoulder joint is disclosed. A vehicle includes a plurality of wheel assemblies; a plurality of rotating shoulder joints, each wheel assembly being mounted to a respective one of the shoulder joints and rotatable in a plane by the respective shoulder joint; and a chassis to which the shoulder joints are mounted. The shoulder joint for use in a vehicle suspension system includes a housing to which a wheel assembly may be attached for in-plane rotation; a drive; and a transmission engaged with the housing and the drive to reduce the speed of the drive motor as it drives the housing.
1. A shoulder joint for use in a vehicle suspension system, comprising:
a housing to which a wheel assembly may be attached for in-plane rotation;
a drive; and
a transmission engaged with the housing and the drive to reduce the speed of the drive as it drives the housing, the transmission including:
a harmonic drive engaged with the shoulder drive and capable of reducing the speed of the shoulder drive; and
a planetary gearset capable of further reducing the speed of the shoulder drive and engaging the housing to drive it.
2. The shoulder joint of claim 1 , wherein the shoulder drive is co-aligned with the axis of the shoulder joint.
3. The shoulder joint of claim 1 , wherein the shoulder drive is offset from the axis of the shoulder joint.
4. The shoulder joint of claim 1 , wherein the shoulder drive comprises one of a direct-shoulder drive, a servo motor, a motor-driven gearbox, an engine-driven gearbox, and a rotary actuator.
5. The shoulder joint of claim 1 , further comprising at least one of:
a slip clutch between the planetary gearset and the housing to disengage the housing from the drive; and
a spring preloading the planetary gearset and the harmonic drive.
6. The shoulder joint of claim 5 , wherein the spring comprises a torsion bar assembly.
7. The shoulder joint of claim 1 , further comprising a locking mechanism.
8. The shoulder joint of claim 7 , wherein the locking mechanism comprises a small spring applied, electrically released locking mechanism.
9. The shoulder joint of claim 1 , further comprising means for ascertaining the absolute position of the shoulder joint.
10. The shoulder joint of claim 9 , wherein the ascertaining means comprises at least one of a resolver, an encoder, or a potentiometer.
11. The shoulder joint of claim 9 , wherein the ascertaining means comprises at least one of an arm position encoder and a torsion bar twist encoder.
12. The shoulder joint of claim 1 , further comprising a plurality of slip rings through which signals may be transmitted.
13. An integrated shoulder joint, comprising:
a torsion bar;
a shoulder drive;
a harmonic drive engaged with the shoulder drive and capable of reducing the speed of the shoulder drive and preloaded by the torsion bar;
a slip clutch capable of disengaging the harmonic drive from the shoulder drive; and
a plurality of slip rings through which signals can be sent through the integrated shoulder joint.
14. The shoulder joint of claim 13 , wherein the slip clutch limits the torque through a drive system of which the shoulder joint comprises a portion.
15. The shoulder joint of claim 14 , wherein the slip clutch is capable of dissipating energy to prevent damage.
16. The shoulder joint of claim 13 , wherein the slip clutch is capable of dissipating energy to prevent damage.
17. The shoulder joint of claim 13 , further comprising locking mechanism capable of preventing rotation of the motor.
18. The shoulder joint of claim 17 , wherein the locking mechanism is applied by a biasing means.
19. The shoulder joint of claim 18 , wherein the biasing means comprises a spring.
20. The shoulder joint of claim 18 , wherein the locking mechanism is electrically released.
21. The shoulder joint of claim 13 , wherein the shoulder joint comprises a prismatic joint.
22. The shoulder joint of claim 13 , wherein the shoulder joint offers multiple degrees of freedom of movement.