Multi-axis caster angle control system of an extendable wheel assembly

A wheel assembly for a vehicle comprising:

• a wheel, at least one lower suspension link being arranged to be attached to the vehicle and one upper part being arranged to be attached to the vehicle,
• the wheel being arranged to rotate at 360° to steer the vehicle around a pivot line positioned by said at least one lower suspension link and the upper part once attached to the vehicle,
• wherein a projection of the pivot line onto a vertical projection plane comprising a vertical axis passing through a contact point between the wheel and ground defining a caster angle with the vertical axis, the wheel assembly further including:
• a caster adjustment means arranged to adjust the caster angle within a predetermined range, whatever the orientation of the projection plane, wherein the position of the upper part is moveable relative to the vehicle along a first degree of freedom and a second degree of freedom and the caster adjustment means are arranged to control the position of the upper part along the first degree of freedom and the second degree of freedom, wherein the first degree of freedom and the second degree of freedom are two translations along two axes contained in a plane perpendicular to the pivot line.