# US 10,483,832 B2 · Multi-bar linkage electric drive system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,483,832 B2 - Document ID: US10483832B2 - Status: Granted - Kind: B2 - Application number: 15/701,766 - Filed: 2017-09-12 - Published: 2018-03-15 - Granted: 2019-11-19 - Earliest claimed: 2016-09-13 - Assignees: Indigo Technologies, Inc. - Applicants: Indigo Technologies, Inc. - Inventors: Ian W. Hunter; Timothy A. Fofonoff; Peter G. Madden; Dean Ljubicic; Thomas Moriarty; Scott T. Purchase - Web page: https://patentgrep.com/patent/US10483832B2 ## CPC - H02K 16/04: Machines with one rotor and two stators - B60G 1/00: Suspensions with rigid connection between axle and frame - B60G 3/01: the wheel being mounted for sliding movement, e.g. in or on a vertical guide (camber maintaining means B60G3/26) - B60G 3/20: all arms being rigid - B60G 7/001: {Suspension arms, e.g. constructional features (B60G7/006 takes precedence)} - B60G 17/015: the regulating means comprising electric or electronic elements ({B60G17/002}, B60G17/005 take precedence) - B60K 7/0007: {the motor being electric} - H02K 1/2796: where both axial sides of the rotor face a stator - H02K 1/28: Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures - H02K 7/006: {Structural association of a motor or generator with the drive train of a motor vehicle} - H02K 7/075: using crankshafts or eccentrics - H02K 7/086: {radially supporting the rotor around a fixed spindle; radially supporting the rotor directly (H02K7/09 takes precedence)} - H02K 7/116: with gears - B60G 3/207: {the arms being essentially parallel to the longitudinal axis of the vehicle} - B60G 2202/42: Electric actuator - B60G 2204/182: Electric motor on wheel support - B60G 2204/30: In-wheel mountings - B60G 2204/421: Pivoted lever mechanisms for mounting suspension elements, e.g. Watt linkage - B60G 2300/50: Electric vehicles; Hybrid vehicles - B60G 2500/30: Height or ground clearance - B60K 17/043: {Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel} - B60K 2007/003: {with two or more motors driving a single wheel} - B60K 2007/0038: {the motor moving together with the wheel axle} - B60K 2007/0092: {the motor axle being coaxial to the wheel axle} - B60L 2220/44: Wheel Hub motors, i.e. integrated in the wheel hub - B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel - B60Y 2200/91: Electric vehicles - H02K 7/125: {magnetically influenced} - H02K 21/24: with magnets axially facing the armatures, e.g. hub-type cycle dynamos - H02K 2201/18: Machines moving with multiple degrees of freedom - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract An electric drive system including: a rotary motor system including a hub assembly, a first rotating assembly, a second rotating assembly, and a third rotating assembly, wherein the hub assembly defines a rotational axis about which the first rotating assembly, the second rotating assembly, and the third rotating assembly are coaxially aligned and are capable of independent rotational movement independent of each other; a multi-bar linkage mechanism connected to each of the first and third rotating assemblies and connected to the hub assembly and constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first rotating assembly and the third rotating assembly with respect to each other. ## Claims ### Claim 1 An electric drive system comprising: a rotary motor system comprising a hub assembly, a magnetic rotor assembly, a first coil stator assembly, and a second coil stator assembly, wherein the hub assembly defines a rotational axis and wherein each of the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly is coaxially aligned with the rotational axis and is capable of rotational movement about the rotational axis; and a multi-bar linkage mechanism connected to each of the first and second coil stator assemblies and connected to the hub assembly, said multi-bar linkage mechanism constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first coil stator assembly and the second coil stator assembly with respect to each other, wherein the multi-bar linkage comprises a first swing arm rotatably coupled to the first stator assembly on a first side of the magnetic rotor assembly, a second swing arm rotatably coupled to the second stator assembly on a second side of the magnetic rotor assembly, and a member parallel to the rotational axis and rotatably coupled to the first swing arm and rotatably coupled to the second swing arm. ### Claim 2 An electric drive system comprising: a rotary motor system comprising a hub assembly, a magnetic rotor assembly, a first coil stator assembly, and a second coil stator assembly, wherein the hub assembly defines a rotational axis and wherein each of the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly is coaxially aligned with the rotational axis and is capable of rotational movement about the rotational axis; a multi-bar linkage mechanism connected to each of the first and second coil stator assemblies and connected to the hub assembly, said multi-bar linkage mechanism constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first coil stator assembly and the second coil stator assembly with respect to each other; and a first torque link connecting the first coil stator assembly to the multi-bar linkage mechanism and a second torque link connecting the second coil stator assembly to the multi-bar linkage mechanism, the first and second torque links limiting rotation of the first and second coil stator assemblies to within a range of permitted rotations. ### Claim 3 (depends on 2) The electric drive system of claim 2, wherein the multi-bar linkage mechanism is a four-bar linkage mechanism. ### Claim 4 (depends on 3) The electric drive system of claim 3, wherein the four-bar linkage mechanism is a Watt's linkage mechanism. ### Claim 5 (depends on 2) The electric drive system of claim 2, wherein the multi-bar linkage mechanism comprises a support structure, a crankshaft assembly, a first swing arm, and a second swing arm, wherein the first swing arm has a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a first location on the support structure, and wherein the second swing arm has a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a second location on the support structure that is different from the first location on the support structure. ### Claim 6 (depends on 5) The electric drive system of claim 5, wherein the crankshaft assembly comprises the hub assembly. ### Claim 7 (depends on 5) The electric drive system of claim 5, wherein the crankshaft assembly includes a crankshaft, a first crank arm extending in a first radial direction away from the crankshaft, and a second crank arm extending in a second radial direction away from the crankshaft. ### Claim 8 (depends on 7) The electric drive system of claim 7, wherein the first crank arm and the second crank arm are located at opposite ends of the crankshaft. ### Claim 9 (depends on 7) The electric drive system of claim 7, wherein the first radial direction is opposite to the second radial direction. ### Claim 10 (depends on 2) The electric drive system of claim 2, further comprising a wheel rim circumscribing the rotational axis and wherein the magnetic rotor assembly is coupled to the wheel rim so that the wheel rim rotates about the rotational axis along with the magnetic rotor assembly. ### Claim 11 (depends on 10) The electric drive system of claim 10, wherein the wheel rim circumscribes the rotary motor system. ### Claim 12 (depends on 2) The electric drive system of claim 2, wherein the rotary motor system comprises: a first electric motor including a first magnetic rotor, the first coil stator assembly, a rotor bearing assembly enabling the first magnetic rotor to rotate about the rotational axis, and a first coil bearing assembly enabling the first coil stator assembly to rotate about the rotational axis independent of the first magnetic rotor; and a second electric motor including a second magnetic rotor, the second coil stator assembly, and a second coil bearing assembly enabling the second coil stator assembly to rotate about the rotational axis independent of the first magnetic rotor and independent of the first coil stator assembly, wherein the magnetic rotor assembly comprises the first and second magnetic rotors coupled to each other to rotate together about the rotational axis. ### Claim 13 (depends on 12) The electric drive system of claim 12, wherein the first and second electric motors are axial flux motors. ### Claim 14 A vehicle comprising: a chassis; and a plurality of wheel assemblies at least one of which comprises: a rotary motor system comprising a hub assembly, a magnetic rotor assembly, a first coil stator assembly, and a second coil stator assembly, wherein the hub assembly defines a rotational axis and wherein each of the magnetic rotor assembly, the first coil stator assembly, and the second coil stator assembly is coaxially aligned with the rotational axis and is capable of rotational movement about the rotational axis independent of each other; and a multi-bar linkage mechanism connected to each of the first and second coil stator assemblies and connected to the hub assembly, said multi-bar linkage mechanism constraining movement of the hub assembly so that the rotational axis of the hub assembly moves along a defined path that is in a transverse direction relative to the rotational axis and wherein the multi-bar linkage mechanism causes the rotational axis of the hub assembly to translate along the defined path in response to relative rotation of the first coil stator assembly and second coil stator assembly with respect to each other; a wheel rim circumscribing the rotational axis and wherein the magnetic rotor assembly is coupled to the wheel rim so that the wheel rim rotates about the rotational axis along with the magnetic rotor assembly; and a first torque link connecting the first coil stator assembly to the multi-bar linkage mechanism and a second torque link connecting the second coil stator assembly to the multi-bar linkage mechanism, the first and second torque links limiting rotation of the first and second coil stator assemblies to within a range of permitted rotations. ### Claim 15 (depends on 14) The vehicle of claim 14, wherein the multi-bar linkage mechanism is a four-bar linkage mechanism. ### Claim 16 (depends on 15) The vehicle of claim 15, wherein the four-bar linkage mechanism is a Watt's linkage mechanism. ### Claim 17 (depends on 14) The vehicle of claim 14, wherein the multi-bar linkage mechanism comprises a support structure, a crankshaft assembly, a first swing arm, and a second swing arm, wherein the first swing arm has a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a first location on the support structure, and wherein the second swing arm has a first end rotatably connected to the crankshaft assembly and a second end rotatably connected to the support structure at a second location on the support structure that is different from the first location on the support structure. ### Claim 18 (depends on 17) The vehicle of claim 17, wherein the crankshaft assembly comprises the hub assembly. ### Claim 19 (depends on 17) The vehicle of claim 17, wherein the crankshaft assembly includes a crankshaft, a first crank arm extending in a first radial direction away from the crankshaft, and a second crank arm extending in a second radial direction away from the crankshaft. ### Claim 20 (depends on 19) The vehicle of claim 19, wherein the first crank arm and the second crank arm are located at opposite ends of the crankshaft. ### Claim 21 (depends on 19) The vehicle of claim 19, wherein the first radial direction is opposite to the second radial direction. ### Claim 22 (depends on 14) The vehicle of claim 14, wherein the rotary motor system comprises: a first electric motor including a first magnetic rotor, the first coil stator assembly, a rotor bearing assembly enabling the first magnetic rotor to rotate about the rotational axis, and a first coil bearing assembly enabling the first coil stator assembly to rotate about the rotational axis independent of the first magnetic rotor; and a second electric motor including a second magnetic rotor, the second coil stator assembly, and a second coil bearing assembly enabling the second coil stator assembly to rotate about the rotational axis independent of the first magnetic rotor and independent of the first coil stator assembly, wherein the magnetic rotor assembly comprises the first and second magnetic rotors coupled to each other to rotate together about the rotational axis.