Design and Evaluation of a Compact Steering-Driving-Suspension Module With Wide-Angle Steering for Reconfigurable Mobility Platforms

Abstract This article presents a compact and reconfigurable electric mobility platform based on a novel steering-driving-suspension (SDS) module. The module achieves wide-angle steering up to 90 deg using a single actuator embedded in the linkage, operating under a mechanically constrained dual-motion mechanism that couples bevel gear rotation and linkage tilting. This one-to-one kinematic constraint ensures compactness and simplifies steering control. At the system level, the platform allows real-time adjustment of wheelbase and tread width for adaptive maneuverability and stability. Coordinated operation of multiple SDS modules enables omnidirectional locomotion including lateral, diagonal, and pivot turns within confined spaces. Experimental validation confirmed reliable wide-angle steering and synchronized multimodule motion, demonstrating the feasibility and scalability of the proposed mechanism for robotic and electric mobility applications. The results highlight its potential in autonomous logistics, service robotics, and transformable electric vehicles requiring high maneuverability and structural adaptability.