Tension actuator load suspension system

Claim 3

The system of claim 1, wherein said actuators are constructed to produce tensile forces between the load and the reference frame that decrease nonlinearly as said actuators contract.

Claim 4

The system of claim 2, wherein said fluid supplied to said actuators by said fluid source comprises air.

Claim 5

The system of claim 3, wherein said fluid source comprises an air compressor.

Claim 6

The system of claim 4, wherein said control means comprises at least one valve for controlling the supply of air from said air compressor to said actuators.

Claim 7

The system of claim 5, wherein said control means further comprises at least one pressure transducer means for producing an output indicative of the pressure of said air inside said actuators.

Claim 8

The system of claim 6, wherein said control means further comprises load position sensing means for producing an output indicative of the relative position of the load with respect to the reference frame.

Claim 9

The system of claim 7, wherein said control means further comprises processing means for receiving said output of said pressure transducer means and said output of said load position sensing means and producing control signals in response thereof, one of said control signals being provided to said valve to control the supply of air from said air compressor to said actuator.

Claim 10

The system of claim 8, wherein said control means further comprises load position adjustment means for producing an output indicative of a desired relative position of the load with respect to the reference frame, said output of said load position adjustment means being provided to said processing means, said processing means adjusting said control signals in response thereto, until the desired said relative position is achieved.

Claim 11

The system of claim 8, wherein said control means further comprises compliance adjustment means for producing an output indicative of a desired compliance of said system said output of said compliance adjustment means being provided to said processing means, said processing means adjusting said control signals in response thereto, causing said pressure of said air supplied to each said actuator in said actuator pair to be proportionally increased as less compliance is required and proportionally decreased as more compliance is required.

Claim 12

The system of claim 8, further comprising a plurality of said pairs of antagonistic actuators.

Claim 13

The system of claim 11, wherein said control means further comprises compliance adjustment means for producing an output indicative of a desired compliance of said system, said output of said compliance adjustment means being provided to said processing means, said processing means adjusting said control signals in response thereto, causing said pressure of said air supplied to each said actuator in each said actuator pair to be proportionally increased as less compliance is required and proportionally decreased as more compliance is required.

Claim 14

The system of claim 1, wherein said actuators are controllably compliant.

Claim 15

The system of claim 1, wherein said control means comprises at least one valve for controlling the supply of fluid from said fluid source to said actuator.

Claim 16

The system of claim 1, wherein said control means further comprises at least one pressure transducer means for producing an output indicative of the pressure inside said actuators.

Claim 17

The system of claim 1, wherein said control means further comprises load position sensing means for producing an output indicative of the relative position of the load with respect to the reference frame.

Claim 18

The system of claim 1, wherein said control means further comprises processing means for receiving said output of said pressure transducer means and said output of said load position sensing means and producing control signals in response thereto, one of said control signals being provided to said valve to control the supply of fluid from said fluid source to said actuator.

Claim 19

The system of claim 1, wherein said control means further comprises load position adjustment means for producing an output indicative of a desired relative position of the load with respect to the reference frame, said output of said load position adjustment means being provided to said processing means, said processing means adjusting said control signals in response thereto until the desired said relative position is achieved.

Claim 20

The system of claim 1, wherein said control means comprises compliance adjustment means for causing the pressure of said fluid supplied to said each actuator in said actuator pair to be proportionally increased as less compliance is required and to be proportionally decreased as more compliance is required.

Claim 21

The system of claim 1, wherein a plurality of said actuators.

Claim 24

The system of claim 21, further comprising a plurality of said pairs of antagonistic actuators.

Claim 25

A vehicle suspension system, for suspending the chassis of a vehicle from the support structure associated with each of its wheels, said system comprising: a pair of antagonistic, fluid responsive, radially expansible, axially contractible actuators connected between the chassis and the support structure associated with each wheel, each said pair of antagonistic actuators applying antagonistic tensile forces between the chassis and the support structure associated with the corresponding wheel; a fluid source for supplying fluid to both actuators in each said pair to cause said actuators to contract axially; at least one said valve, connecting said fluid source and said actuators in each said pair, for controlling the supply of fluid from said fluid source to each said actuator; pressure transducer means for producing outputs indicative of the pressure of the fluid within each said actuator of each said pair; chassis position sensing means for producing outputs indicative of the relative position of the chassis with respect to the support structure associated with each wheel; processing means for receiving said outputs of said pressure transducer emans and said outputs of said chassis position sensing means and producing control signals in response thereto, said control signals being provided to said valves to control both the flow and pressure of said fluid supplied to each said actuator of each said pair.

Claim 26

A vehicle suspension system, for suspending the chassis of a vehicle from the support structure associated with each of its wheels, said system comprising: a pair of antagonistic, fluid responsive, radially expansible, axially contractible actuators connected between the chassis and the support structure associated with each wheel, each said pair of antagonistic actuators applying antagonistic tensile forces between the chassis and the support structure associated with the corresponding wheel; a fluid source for supplying fluid to both actuators in each said pair to cause said actuators to contract axially; at least one said valve, connecting said fluid source and said actuators in each said pair, for controlling the supply of fluid from said fluid source to each said actuator; pressure transducer means for producing outputs indicative of the pressure of the fluid within each said actuator of each said pair; chassis position sensing means for producing outputs indicative of the relative position of the chassis with respect to the support structure associated with each wheel; processing means for receiving said outputs of said pressure transducer emans and said outputs of said chassis position sensing means and producing control signals in response thereto, said control signals being provided to said valves to control both the flow and pressure of said fluid supplied to each said actuator of each said pair.

Claim 27

The system of claim 23, further comprising chassis position adjustment means for producing an output indicative of a desired relative position of the chassis with respect to the support structure, said output of said chassis position adjustment means being provided to said processing means, said processing means adjusting said control signals in response thereto until the desired said relative position is achieved.

Claim 28

The system of claim 23, further comprising compliance adjustment means for producing an output indicative of a desired compliance of said system, said output of said compliance adjustment means being provided to said processing means, said processing means adjusting said control signals in response thereto, causing said pressure of said air supplied to each said actuator of each said pair to be proportionally increased as less compliance is required and proportionally decreased as more compliance is required.

Claim 29

The system of claim 23, further comprising range-sensing means for producing output indicative of the distance between the chassis and the road surface a predetermined distance in front of each wheel, said output of said range-sensing means being provided to said processing means which responsively adjusts said control signals provided to said valve.

Claim 30

The system of claim 23, further comprising inertial response sensing means for producing an output indicative of the inertial response of the chassis to changes in attitude, said output of said inertial response sensing means being provided to said processing means which responsively adjusts said control signals provided to said valve.

Claim 31

The system of claim 23, further comprising wheel orientation sensing means for producing an output indicative of the steering direction of the wheels with respect to a vertical reference plane extending longitudinally with respect to the chassis, said output of said wheel orientation sensing means being provided to said processing means which responsively adjusts said control signals provided to said valve.

Claim 32

The system of claim 23, further comprising vehicle velocity sensing means for producing an output indicative of the speed of the vehicle, said output of said vehicle velocity sensing means being provided to said processing means which responsively adjusts said control signals provided to said valve.

Claim 33

The system of claim 23, further comprising vehicle braking sensing means for producing an output indicative of the magnitude of the braking forces applied to the wheels of the vehicle, said output of said vehicle braking sensing means being provided to said processing means which responsively adjusts said control signals provided to said valve.

Claim 34

The system of claim 23, further comprising wheel traction sensing means for producing an output indicative of the magnitude and direction of the slippage of each wheel on the road, said output of said wheel traction sensing means being provided to said processing means which responsively adjusts said control signals provided to said valve.