Synthesis of Spatial Parallel Mechanisms for a Vertical and Longitudinal All-Terrain Suspension

Author:

Fauroux Jean Christophe1

Affiliation:

1. Clermont University

Abstract

Fast wheeled motion on unstructured grounds requires highly efficient suspensions that damp shocks vertically but also horizontally, which is an original contribution of the author. This work describes nine 2D and 3D kinematics, most of them with parallel structure, that are suitable for guiding a wheel and providing simultaneous damping in two directions. Steering and power transmission are also included in the most advanced variants, that were previously patented. Both structural and dimensional synthesis are presented, with a kinematic description of each system. A real implementation at a small scale is also described.

Publisher

Trans Tech Publications, Ltd.

Reference13 articles.

1. J.C. Fauroux, J. Dakhlallah, B.C. Bouzgarrou, A New Concept of FAST Mobile Rover with Improved Stability on Rough Terrain, in Proc. of HUDEM'2010, 8th International Advanced Robotics Programme (IARP) Workshop on Robotics and Mechanical assistance in Humanitarian De-mining and Similar risky interventions, 10-12 May, 2010, Nat. Eng. School of Sousse, Tunisia. Paper #26, 16 p. Downloadable on http: /jc. fauroux. free. fr.

2. J.C. Fauroux, B.C. Bouzgarrou, Dynamic Obstacle-Crossing of a Wheeled Rover with Double-Wishbone Suspension, in Field Robotics", Edited by P. Bidaud, M.O. Tokhi, C. Grand and G.S. Virk, World Scientific Publishing, ISBN-13 978-981-4374-27-9, Proc. 14th International Conference on Climbing and Walking Robots, CLAWAR, 11, Septembre 06-08, 2011, Paris, France, pp.642-649.

3. J. Slater, Motorcycle front wheel suspension system, patent US4179135, Stanford, USA, (1979).

4. V. Asteggiano, S. Silvano, Suspension system with longitudinal interconnection for a vehicle, patent EP1655159A1, C.R.F., Torino, Italy, (2004).

5. K. Astheimer, Rear axle suspensions for motor vehicles, patent US3869016, General Motors Corporation, Detroit, USA, (1975).

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