TY - GEN
T1 - Optimal Design and Analysis of Separable Suspension System of Wheel-Legged Compound Unmanned Ground Vehicle
AU - Ren, Xiaolei
AU - Liu, Hui
AU - Yang, Haiyang
AU - Liu, Baoshuai
AU - Han, Lijin
AU - Ziyong, Han
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - Wheel-legged compound unmanned ground vehicles promise versatile, fast and efficient mobile capabilities. To improve the driving stability of the wheel-legged compound unmanned ground vehicle and ensure the reliability and practicality of the on-board equipment, a new type of suspension system is designed. The suspension system can be separated and combined between the legged state and the wheeled state. The general scheme of wheel-legged compound unmanned ground vehicle is introduced, and the basic principle of the separable suspension system is clarified. To design and select the parameters of the suspension system, the dynamics model of an equivalent two-degree-of-freedom quarter suspension is established by using Newton Euler method. On this basis, the suspension deflection, body acceleration and tire deflection are used as indices to optimize its stiffness, damping and initial friction torque. Finally, by analyzing the vehicle at 40 km/h on the class B road surface, the time-domain response of the three indices verifies the rationality of vehicle design optimization and aims to provide a theoretical and simulation basis for the optimal design and selection of the separable suspension system of a wheel-legged compound unmanned ground vehicle. The results show that the tire deflection peak 23 mm is smaller than the suspension deflection peak 40 mm, and the body acceleration is less than 1 g, so the suspension parameters design optimization results are reasonable and meet the vehicle reliability and stability requirements.
AB - Wheel-legged compound unmanned ground vehicles promise versatile, fast and efficient mobile capabilities. To improve the driving stability of the wheel-legged compound unmanned ground vehicle and ensure the reliability and practicality of the on-board equipment, a new type of suspension system is designed. The suspension system can be separated and combined between the legged state and the wheeled state. The general scheme of wheel-legged compound unmanned ground vehicle is introduced, and the basic principle of the separable suspension system is clarified. To design and select the parameters of the suspension system, the dynamics model of an equivalent two-degree-of-freedom quarter suspension is established by using Newton Euler method. On this basis, the suspension deflection, body acceleration and tire deflection are used as indices to optimize its stiffness, damping and initial friction torque. Finally, by analyzing the vehicle at 40 km/h on the class B road surface, the time-domain response of the three indices verifies the rationality of vehicle design optimization and aims to provide a theoretical and simulation basis for the optimal design and selection of the separable suspension system of a wheel-legged compound unmanned ground vehicle. The results show that the tire deflection peak 23 mm is smaller than the suspension deflection peak 40 mm, and the body acceleration is less than 1 g, so the suspension parameters design optimization results are reasonable and meet the vehicle reliability and stability requirements.
KW - Dynamic model
KW - Optimal design
KW - Separable suspension system
KW - Wheel-legged compound
UR - https://www.scopus.com/pages/publications/85127845609
U2 - 10.1007/978-981-16-7381-8_71
DO - 10.1007/978-981-16-7381-8_71
M3 - Conference contribution
AN - SCOPUS:85127845609
SN - 9789811673801
T3 - Mechanisms and Machine Science
SP - 1137
EP - 1151
BT - Advances in Mechanical Design - Proceedings of the 2021 International Conference on Mechanical Design, ICMD 2021
A2 - Tan, Jianrong
PB - Springer Science and Business Media B.V.
T2 - International Conference on Mechanical Design, ICMD 2021
Y2 - 11 August 2021 through 13 August 2021
ER -