Research Papers

Independent Suspension of Invariable Alignment Parameters by Using Flexible Links With Anisotropic Elasticity

[+] Author and Article Information
Jing-Shan Zhao

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: jingshanzhao@mail.tsinghua.edu.cn

Jian-Yi Wang

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
Automotive Engineering Institute,
Guangzhou Automobile Group Co., Ltd,
Guangzhou 511434, China
e-maiil: wangjy05@mails.tsinghua.edu.cn

Fulei Chu

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: chufl@tsinghua.edu.cn

Jian S. Dai

Centre for Advanced Mechanisms and Robotics,
Tianjin University,
Tianjin 300072, China
King's College London,
University of London,
London WC2R 2LS, UK
e-mail: jian.dai@kcl.ac.uk

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 16, 2012; final manuscript received February 24, 2014; published online June 5, 2014. Assoc. Editor: Pierre M. Larochelle.

J. Mechanisms Robotics 6(4), 041002 (Jun 05, 2014) (8 pages) Paper No: JMR-12-1030; doi: 10.1115/1.4027232 History: Received March 16, 2012; Revised February 24, 2014

This paper investigates an independent suspension with invariable alignment parameters by using flexible links of anisotropic elasticity. It focuses on the synthesis of elasticity of compliant flat links and establishes the mapping from the internal forces during jounce and rebound to the perturbation of the alignment parameters of the knuckle. The equivalent substitution of a flexible link to the infinite-R kinematic chain is first discussed by investigating the free motion and constraint of planar R-type kinematic chains. The rigid guidance capability of the suspension is then discussed from the viewpoint of perturbations of alignment parameters via investigating the lateral deflections of the anisotropic flexible links. At last the rib strengthened double level links on each side of the knuckle are proposed for engineering applications. Numerical simulations and model test show that this kind of suspension can provide very good alignment for the wheel.

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Fig. 1

A grasping hand with single serial planar kinematic chain

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Fig. 5

Bending force in each compliant chain

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Fig. 4

Anisotropic elastic model of the flexible link

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Fig. 3

Infinite revolute pairs in each compliant chain

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Fig. 6

Joint forces of the knuckle and anisotropic flexible links

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Fig. 2

Theoretical model of kinematic pairs of a flexible link

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Fig. 7

Deformation of the anisotropic flexible link

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Fig. 8

The displacement resulting from the deflections of the links

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Fig. 11

Improved stiffness of the flexible links and the prototype test

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Fig. 9

Lateral alignment error of the knuckle in jounce and down

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Fig. 10

Rib enhanced double flexible links



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