The concept design and dynamics analysis of a novel vehicle suspension mechanism with invariable orientation parameters

Zhao, Jing–Shan; Li, Lingyang; Chen, Liping; Zhang, Yunqing

doi:10.1080/00423111003703232

Cited by 13 publications

(9 citation statements)

References 20 publications

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“…21 It was invented by Peaucellier (1864), an officer of the French army, and by Lipkin (1871), a Russian mathematician. 22 The PL linkage has found several applications: as a linear haptic device, 23 as a positioning device of teleoperated needle steering systems, 24 as an actuation mechanism of deployable structures, 25 and some others. However, its use as a robotic leg is scarcely widespread.…”

Section: Background and State Of The Artmentioning

confidence: 99%

Hexapod with legs based on Peaucellier–Lipkin mechanisms

Juárez-Campos

Núñez-Altamirano

Márquez-Pérez

et al. 2018

International Journal of Advanced Robotic Systems

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This article describes the way in which six nontraditional legs collaborate to provide locomotion to a walking machine when it moves along a path. Such legs are based on the one-degree-of-freedom Peaucellier-Lipkin mechanism, which was modified by the addition of four degrees of freedom. Such five-degree-of-freedom legs have the ability to adapt their postures according to the center of rotation around of which the machine walks. The attributes and abilities of the hexapod are expressed by means of a mathematical framework, which grants the spatial description and required joint variables, according to a specific task, resulting in the configuration of its legs for a particular path planning. Additionally, the article presents an illustrative example describing a detailed procedure concerning the configurations and collaboration of their legs according to an imposed center of rotation around of which the six-legged robot walks.

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Section: Background and State Of The Artmentioning

confidence: 99%

Hexapod with legs based on Peaucellier–Lipkin mechanisms

Juárez-Campos

Núñez-Altamirano

Márquez-Pérez

et al. 2018

International Journal of Advanced Robotic Systems

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“…For the rigid model, the system has four DOFs, so there are four-order frequencies which are listed in Table 4. Substituting the frequency into equation (15), the principal mode corresponding to each order frequency also can be obtained as Table 5 shows. Figure 8 illustrates the principal mode corresponding to each order.…”

Section: Natural Frequency Characteristicmentioning

confidence: 99%

“…An overconstrained suspension mechanism with invariable alignment parameters was proposed by Zhao et al. 15 and its rigid body dynamics was investigated by introducing the deformation compatibility.…”

Section: Introductionmentioning

confidence: 99%

“…Based on the concept design of the suspension mechanism proposed by Zhao et al., 15 a novel rectilinear rear-independent suspension (RRIS), which can be regarded as a multilink-independent suspension, was proposed 16 and the stiffness analysis of the suspension mechanism also has been carried out. 17 Although its alignment parameters are invariable in geometry, they will change within an interval when the elasticity of links and rubber bushings are considered in reality.…”

Section: Introductionmentioning

confidence: 99%

“…Park and Sohn 14 proposed a camber suspension mechanism used in double wishbone suspension and studied its dynamic characteristics based on a full-car model in ADAMS. An overconstrained suspension mechanism with invariable alignment parameters was proposed by Zhao et al 15 and its rigid body dynamics was investigated by introducing the deformation compatibility.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Compliant dynamics of a rectilinear rear-independent system

Liu

Zhao

Zhou

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

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The rectilinear rear-independent suspension investigated in this paper could remain the wheel alignment parameters invariable in theory. However, its dynamics is much more complex than that of the existing suspensions because of its redundant constraints in structure. Considering the elasticity of the rectilinear rear-independent suspension, a rigidflexible half-car dynamic model is established for the first time based on the discrete time transfer matrix method. At the same time, a rigid half-car dynamic model is established as a comparison. The natural frequency characteristics and dynamic response of the rectilinear rear-independent suspension under random road excitations are analyzed and compared with those of rigid half-car dynamic model. The results reveal that the suspension system has apparent influence to the dynamics of vehicle. The wheel alignment parameters will fluctuate within a narrow range which is mainly determined by the rolling vibration of vehicle. And the suspension system could reduce and filter the road excitations with high frequency and small amplitude. This provides a good effect on the ride comfort of vehicle. Dynamics analysis of the rectilinear rear independent suspension reveals that the proposed modeling approach could deal with the dynamics of rigid-flexible multibody systems with redundant constraints effectively.

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