| 摘要 |
The present invention relates to a ground contacting module designed to support at least part of a vehicle chassis, comprising a yoke (5) secured to the chassis and at least one wheel (1) allowing the movement of said vehicle, at least one wheel of the module being made mobile by motor means (2), the position of the axis of each wheel of the module being movable relative to the ground and the chassis at least by steering means (31), each wheel (1) of the module being secured to a suspension beam (4) which in turn is secured on the one hand to the yoke (5), and on the other hand to suspension means (40) secured to the chassis or the yoke (5), such that each wheel (1) is movable in a vertical direction, substantially perpendicular to the plane of the chassis, independently of the position and/or movement of the other wheels of the vehicle irrespective of whether they are part of said module; each wheel (1) of the module being designed to be tiltable such that the angle formed between the axis (x) of a wheel and a plane parallel to the plane of the chassis, called incline angle, is different from 0[&pgr;]; the ground contacting module being secured to measuring and control means controlling at least the motor means (2), the steering means (31), the suspension means (40) and the means for tilting the wheels of the module. |
