A generalized method for three-dimensional dynamic analysis of a full-vehicle model

2020 ◽  
Vol 234 (10-11) ◽  
pp. 2485-2499
Author(s):  
Guofeng Zhou ◽  
Yafei Wang ◽  
Haiping Du
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Theoretical Method ◽  
Vehicle Body ◽  
Vehicle Model ◽  
Full Vehicle ◽  
Spatial Parallel Mechanism ◽  
Dynamic Performances ◽  
Instantaneous Screw

Dynamic performances of the vehicle are significantly influenced by the suspension mechanisms. An understanding of the effects of the suspension kinematics and statics (or, briefly, kinestatics) is crucial to improve the dynamic performances of a vehicle. However, the suspension kinestatics is often neglected in the dynamic analysis. This paper presents a generalized full-vehicle model for the three-dimensional dynamic analysis, which consists of two pairs of the front and rear spatial suspension mechanisms. Each suspension is represented by a corresponding instantaneous screw joint supporting the vehicle body at any instant. The full-vehicle model is viewed to be a 6-degree-of-freedom spatial parallel mechanism. As the spatial parallel mechanism, the kinematics and statics of the full-vehicle model are analysed using the theory of screws. Taking the suspension kinestatics and tyre dynamics into consideration, the dynamic equations of the full-vehicle model are formulated in terms of the Lagrangian equations. As immediate applications, the dynamic behaviours of a vehicle are simulated and evaluated under two different road disturbances, respectively. By comparing with the simulation results from two other widely used methods, it confirms the validity of the theoretical method.

Jacobian approach to the kinestatic analysis of a full vehicle model with application to cornering motion analysis

2020 ◽  
Vol 234 (18) ◽  
pp. 3543-3559
Author(s):  
Guofeng Zhou ◽  
Junwoo Kim ◽  
Yong Je Choi
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Kinematic Chain ◽  
Contact Model ◽  
Vehicle Body ◽  
Spatial Parallel Mechanism ◽  
6 Degrees Of Freedom ◽  
Instantaneous Screw

The Jacobian approach to the kinestatic analysis of a planar suspension mechanism has been previously presented. In this paper, the theory is extended to three-dimensional kinestatic analysis by developing a full kinematic model and viewing it as a spatial parallel mechanism. The full kinematic model consists of two pairs of the front (double wishbone) and rear (multi-link) suspension mechanisms together with a newly developed ground-wheel contact model. The motion of each wheel of four suspension mechanisms is represented by the corresponding instantaneous screw at any instant. A vehicle is considered to be a 6-degrees-of-freedom spatial parallel mechanism whose vehicle body is supported by four serial kinematic chains. Each kinematic chain consists of a virtual instantaneous screw joint and a kinematic pair representing ground-wheel contact model. The kinestatic equation of the 6-degrees-of-freedom spatial parallel mechanism is derived in terms of the Jacobian. As an important application, a cornering motion of a vehicle is analysed under the assumption of steady-state cornering. A numerical example is presented to illustrate how to determine the optimal locations of strut springs for the least roll angle in cornering motion using the proposed method.

scholarly journals Dynamic response analysis for multi-degrees-of-freedom parallel mechanisms with various types of three-dimensional clearance joints

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110177
Author(s):  
Jia Yonghao ◽  
Chen Xiulong
Keyword(s):  
Dynamic Response ◽  
Multibody Systems ◽  
Parallel Mechanism ◽  
Three Dimensional ◽  
Response Analysis ◽  
Parallel Mechanisms ◽  
Dynamics Model ◽  
Clearance Joints ◽  
Clearance Joint ◽  
Spatial Parallel Mechanism

For spatial multibody systems, the dynamic equations of multibody systems with compound clearance joints have a high level of nonlinearity. The coupling between different types of clearance joints may lead to abundant dynamic behavior. At present, the dynamic response analysis of the spatial parallel mechanism considering the three-dimensional (3D) compound clearance joint has not been reported. This work proposes a modeling method to investigate the influence of the 3D compound clearance joint on the dynamics characteristics of the spatial parallel mechanism. For this purpose, 3D kinematic models of spherical clearance joint and revolute joint with radial and axial clearances are derived. Contact force is described as normal contact and tangential friction and later introduced into the nonlinear dynamics model, which is established by the Lagrange multiplier technique and Jacobian of constraint matrix. The influences of compound clearance joint and initial misalignment of bearing axes on the system are analyzed. Furthermore, validation of dynamics model is evaluated by ADAMS and Newton–Euler method. This work provides an essential theoretical basis for studying the influences of 3D clearance joints on dynamic responses and nonlinear behavior of parallel mechanisms.

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

2019 ◽  
Author(s):  
Latifah Nurahmi ◽  
Dongming Gan
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
Operation Mode ◽  
Translational Motion ◽  
Time Derivative ◽  
Screw Axis ◽  
Operation Modes ◽  
Instantaneous Screw Axis ◽  
Moving Platform ◽  
Instantaneous Screw

Abstract The 3-rRPS metamorphic parallel mechanism can change its configurations thanks to the reconfigurable (rR) joint. The analysis in this paper will focus on one specific configuration where the moving-platform is able to perform 2-dof coupled rotational motions and 1-dof translational motion, which is well-known as 1T2R motion. In this configuration, the mechanism has two types of operation modes, i.e. x0 = 0 and x3 = 0, which have been extensively studied by many researchers. However, the dynamic behaviours of the mechanism in those two operation modes have not been studied. Accordingly, this paper presents the dynamic analysis of the 3-rRPS metamorphic parallel mechanism in both operation modes based on the Instantaneous Screw Axis (ISA). The types of operation mode are initially characterized by means of Euler-Quaternion parameters. The time derivative of transformation matrix is performed in each operation mode and the ISA can be determined. By using the ISA, velocities and accelerations of all points on the moving-platform can be evaluated, which become the foundation of the dynamic analysis in this paper. This approach can be applied to parallel mechanisms having multiple operation modes of different mobility.

scholarly journals Simulation Analysis and Experiment Research on Hydro-Pneumatic ISD Suspension

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Xiao-Liang Zhang ◽  
Juchao Liu ◽  
Jiamei Nie ◽  
Hao Wei ◽  
Long Chen
Keyword(s):  
Simulation Analysis ◽  
Complex Structure ◽  
Vehicle Body ◽  
Vehicle Model ◽  
Dual Chamber ◽  
Two Stage ◽  
Full Vehicle ◽  
Working Space ◽  
Pneumatic Suspension ◽  
Amesim Simulation

To address the problems of mechanical two-stage inerter-spring-damper (ISD) suspension such as excessive suspension elements, complex structure, and problematic engineering implementation, a hydro-pneumatic two-stage ISD suspension, which integrates hydro-pneumatic spring and inerter, is proposed. The full vehicle model of hydro-pneumatic ISD suspension is established based on the AMESim. Simulation analysis is performed to demonstrate the effectiveness and performances of the proposed suspension. The hydro-pneumatic ISD suspension prototype is developed and tested on four-poster tire-coupled road simulator. The results suggest that, compared with single-chamber hydro-pneumatic suspension, the hydro-pneumatic ISD one can significantly reduce the vibrations of the vehicle body and wheels, but at the expense of an excessive increase of suspension working space (SWS). In contrast, although proposed suspension is also a type of dual-chamber hydro-pneumatic one, it can not only reduce these vibrations but also downsize the SWS, which means it is the best choice for a more comfortable and safer ride.

A Comparison of Quarter, Half and Full Vehicle Models With Experimental Ride Comfort Data

2015 ◽  
Author(s):  
Herman A. Hamersma ◽  
Schalk Els
Keyword(s):  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Center Of Mass ◽  
Vehicle Body ◽  
Vehicle Model ◽  
Full Vehicle ◽  
Computational Capability ◽  
Quarter Car ◽  
Multi Body ◽  
Vertical Translation

The ride comfort of a vehicle is one of the first parameters used to evaluate its performance. Ride comfort has been one of the important research topics since the dawn of the automobile. With the improvement in computational capability, vehicle engineers have modeled vehicles with increasing complexity. Initially vehicles were simplified to quarter car models, where a quarter of the vehicle was modeled with two degrees of freedom (the vertical translation of the sprung and unsprung masses). The “pitch-bounce” model has four degrees of freedom, representing the pitch rotation and vertical translation (bounce) of the vehicle body and chassis and the vertical translation of the front and rear axles and wheels. Finally, with the development of multi-body systems (MBS) software, there is the possibility to model the full vehicle with suspension kinematics and numerous degrees of freedom. The full vehicle model used for this study has 15 unconstrained degrees of freedom and experimentally determined center of mass and inertias. This paper compares the response of a quarter car, pitch-bounce and full vehicle model with the measured response of an actual vehicle.

scholarly journals Constraint and Mobility Change Analysis of Rubik’s Cube-inspired Reconfigurable Joints and Corresponding Parallel Mechanisms

2020 ◽  
Vol 33 (1) ◽  
Author(s):  
Duanling Li ◽  
Pu Jia ◽  
Jiazhou Li ◽  
Dan Zhang ◽  
Xianwen Kong
Keyword(s):  
Parallel Mechanism ◽  
Unique Feature ◽  
Theoretical Method ◽  
Geometric Constraint ◽  
Parallel Mechanisms ◽  
Change Analysis ◽  
Application Range ◽  
And Topology ◽  
Physical Experiments ◽  
Underlying Principle

Abstract The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints. Compared with the method of changing the mobility by physical locking joints, the geometric constraint has good controllability, and the constructed parallel mechanism has more configurations and wider application range. This paper presents a reconfigurable axis (rA) joint inspired and evolved from Rubik's Cubes, which have a unique feature of geometric and physical constraint of axes of joint. The effectiveness of the rA joint in the construction of the limb is analyzed, resulting in a change in mobility and topology of the parallel mechanism. The rA joint makes the angle among the three axes inside the groove changed arbitrarily. This change in mobility is completed by the case illustrated by a 3(rA)P(rA) reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations, pure rotations. The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors, leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint. The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases. The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.

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