Suspension system

A method of control of operating a suspension system for a vehicle, the suspension system including a wheel arm assembly comprising a first wheel arm having a chassis mount end and a wheel mount end;

• the chassis mount end of the first wheel arm being provided with a chassis mounting member, the chassis mount end of the first wheel arm and the chassis mounting member being pivotable relative to one another around a chassis mount pivoting axis, and the chassis mounting member configured to support the chassis mount end of the first wheel arm so that the first wheel arm and the chassis mounting member are operable to pivot at least 180 degrees relative to one another about the chassis mount pivoting axis;
• the wheel mount end of the first wheel arm being provided with a wheel mounting member, the wheel mount end of the first wheel arm and the wheel mounting member being pivotable relative to one another around a wheel mount pivoting axis, and the wheel mounting member is configured to couple with the wheel mount end of the first wheel arm so that the first wheel arm and the wheel mounting member are operable to pivot at least 180 degrees relative to one another about the wheel mount pivoting axis;
• a first actuator is coupled to the first wheel arm and/or the chassis mounting member and operable to cause the first wheel arm and the chassis mounting member to pivot relative to one another;
• and a second actuator is coupled to the first wheel arm and/or the wheel mounting member and operable to cause the first wheel arm and the wheel mounting member to pivot relative to one another, wherein a chassis end trunnion is provided at the chassis mount end of the first wheel arm, the chassis end trunnion being pivotably attached to the chassis mounting member, the chassis end trunnion and the chassis mounting member being pivotable relative to one another around the chassis mount pivoting axis, and the chassis mounting member configured to support the chassis mount end of the first wheel arm via the chassis end trunnion;
• and wherein a wheel end trunnion is provided at the wheel mount end of the first wheel arm, the wheel end trunnion being pivotably attached to the wheel mounting member, the wheel end trunnion and the wheel mounting member being pivotable relative to one another around the wheel mount pivoting axis, and the wheel mounting member is configured to support the wheel mount end of the first wheel arm via the wheel end trunnion;
• wherein the method comprises:
• operating the first actuator to move the first wheel arm and the chassis mounting member relative to one another about the chassis mount pivoting axis;
• and
• operating the second actuator to move the first wheel arm and the wheel mounting member relative to one another about the wheel mount pivoting axis;
• wherein the first actuator and second actuator are operable independently of one another.

A suspension system for supporting a chassis of a vehicle, the suspension system comprising a suspension unit, the suspension unit comprising:

• a wheel arm assembly comprising a first wheel arm having a chassis mount end and a wheel mount end, the chassis mount end of the first wheel arm being provided with a chassis mounting member, the chassis mount end of the first wheel arm and the chassis mounting member being pivotable relative to one another around a chassis mount pivoting axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm so that the first wheel arm and the chassis mounting member are operable to pivot at least 180 degrees relative to one another about the chassis mount pivoting axis, the wheel mount end of the first wheel arm being provided with a wheel mounting member, the wheel mount end of the first wheel arm and the wheel mounting member being pivotable relative to one another around a wheel mount pivoting axis, and the wheel mounting member is configured to couple with the wheel mount end of the first wheel arm so that the first wheel arm and the wheel mounting member are operable to pivot at least 180 degrees relative to one another about the wheel mount pivoting axis;
• and
• a chassis end trunnion is provided at the chassis mount end of the first wheel arm, the chassis end trunnion being pivotably attached to the chassis mounting member, the chassis end trunnion and the chassis mounting member being pivotable relative to one another around the chassis mount pivoting axis, and the chassis mounting member is configured to support the chassis mount end of the first wheel arm via the chassis end trunnion;
• and
• a wheel end trunnion is provided at the wheel mount end of the first wheel arm, the wheel end trunnion being pivotably attached to the wheel mounting member, the wheel end trunnion and the wheel mounting member being pivotable relative to one another around the wheel mount pivoting axis, and the wheel mounting member is configured to support the wheel mount end of the first wheel arm via the wheel end trunnion.