# US 11,299,202 B2 · Selectively reconfigurable drive-assembly > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,299,202 B2 - Document ID: US11299202B2 - Status: Granted - Kind: B2 - Application number: 16/784,839 - Filed: 2020-02-07 - Published: 2020-08-13 - Granted: 2022-04-12 - Earliest claimed: 2019-02-11 - Assignees: Joanneum Research Forschungsgesellschaft mbH - Applicants: JOANNEUM RESEARCH Forschungsgesellschaft mbH - Inventors: Michael Hofbaur; Mathias Brandstötter - Web page: https://patentgrep.com/patent/US11299202B2 ## CPC - B62D 7/026: {characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle} - B62D 9/002: {combined with means for differentially distributing power on the deflectable wheels during cornering} - B62D 7/1509: {with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle} - B62D 9/04: combined with means for {inwardly} inclining wheels on bends (B62D9/02 takes precedence) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract There is provided a drive assembly comprising: a reconfigurable differential drive comprising a first wheel and a second wheel, wherein the first and second wheels are moveable with different angular velocities around respective first and second rotation axes; a steering actuator configured to rotate the first wheel around a first pivot axis and/or the second wheel around a second pivot axis; wherein the first and second wheels are coupled such that a rotation of the first wheel around the first pivot axis by a first adjustment angle results in a rotation of the second wheel around the second pivot axis by a second adjustment angle, the second adjustment angle being dependent on the first adjustment angle. ## Claims ### Claim 1 A drive assembly comprising: a drive comprising a first wheel and a second wheel, wherein the first and second wheels are moveable with different angular velocities around respective first and second rotation axes; a steering actuator configured to rotate at least one of: the first wheel around a first pivot axis and the second wheel around a second pivot axis; wherein the first and second wheels are coupled such that a rotation of the first wheel around the first pivot axis by a first adjustment angle results in a rotation of the second wheel around the second pivot axis by a second adjustment angle, the second adjustment angle being dependent on the first adjustment angle, and wherein the drive assembly further comprises at least one restoring means to apply a restoring force to at least one of the first wheel and the second wheel based on at least one of: i) a rotation of the first wheel around the first pivot axis and ii) a rotation of the second wheel around the second pivot axis, with respect to an initial rotational position of the respective pivot axis. ### Claim 2 (depends on 1) The drive assembly according to claim 1, wherein an absolute value of the first adjustment angle equals an absolute value of the second adjustment angle. ### Claim 3 (depends on 2) The drive assembly according to claim 2, wherein the first adjustment angle is the negative of the second adjustment angle. ### Claim 4 (depends on 1) The drive assembly according to claim 1, wherein the first adjustment angle equals the second adjustment angle. ### Claim 5 (depends on 1) The drive assembly according to claim 1, wherein the second adjustment angle is a linear function of the first adjustment angle. ### Claim 6 (depends on 1) The drive assembly according to claim 1, wherein the steering actuator is configured to switch between a first mode and a second mode, wherein in the first mode, the second adjustment angle is a first function, and wherein, in the second mode, the second adjustment angle is a second function of the first adjustment angle. ### Claim 7 (depends on 6) The drive assembly according to claim 6, wherein in the first mode, the second adjustment angle is the negative of the first adjustment angle, and wherein, in the second mode, the second adjustment angle equals the first adjustment angle. ### Claim 8 (depends on 1) The drive assembly according to claim 1, wherein the restoring means is a mechanical means. ### Claim 9 An automotive vehicle comprising: a drive assembly including: a drive comprising a first wheel and a second wheel, wherein the first and second wheels are moveable with different angular velocities around respective first and second rotation axes; a steering actuator configured to rotate at least one of: the first wheel around a first pivot axis and the second wheel around a second pivot axis; wherein the first and second wheels are coupled such that a rotation of the first wheel around the first pivot axis by a first adjustment angle results in a rotation of the second wheel around the second pivot axis by a second adjustment angle, the second adjustment angle being dependent on the first adjustment angle, and wherein the drive assembly further comprises at least one restoring means to apply a restoring force to at least one of the first wheel and the second wheel based on at least one of: i) a rotation of the first wheel around the first pivot axis and ii) a rotation of the second wheel around the second pivot axis, with respect to an initial rotational position of the respective pivot axis. ### Claim 10 (depends on 9) The automotive vehicle according to claim 9, wherein an absolute value of the first adjustment angle equals an absolute value of the second adjustment angle. ### Claim 11 (depends on 10) The automotive vehicle according to claim 10, wherein the first adjustment angle is the negative of the second adjustment angle. ### Claim 12 (depends on 9) The automotive vehicle according to claim 9, wherein the first adjustment angle equals the second adjustment angle. ### Claim 13 (depends on 9) The automotive vehicle according to claim 9, wherein the second adjustment angle is a linear function of the first adjustment angle. ### Claim 14 (depends on 9) The automotive vehicle according to claim 9, wherein the steering actuator is configured to switch between a first mode and a second mode, wherein in the first mode, the second adjustment angle is a first function, and wherein, in the second mode, the second adjustment angle is a second function of the first adjustment angle. ### Claim 15 (depends on 14) The automotive vehicle according to claim 14, wherein in the first mode, the second adjustment angle is the negative of the first adjustment angle, and wherein, in the second mode, the second adjustment angle equals the first adjustment angle. ### Claim 16 (depends on 9) The automotive vehicle according to claim 9, wherein the restoring means is a mechanical means.