US Patent 11643143 Spherical wheel leaning systems for vehicles

A suspension system for a vehicle is disclosed. In some embodiments, the suspension system includes a wheel arch. In some embodiments, a wheel arch includes a gear track. In some embodiments, a wheel axle is coupled to a first and a second end of the wheel arch. In some embodiments, a steradian shaped wheel is mounted on the wheel axle. In some embodiments, a motor frame is coupled to a chassis of the vehicle. In some embodiments, the motor frame includes a lean motor configured to engage with the gear track. In some embodiments, actuation of the lean motor causes the wheel arch to rotate along an axis perpendicular to the longitudinal axis of the vehicle to create a change in a camber angle of the wheel.