10 July 2000 Scalability studies and performance comparison of vehicles with two different suspensions
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In this paper, performances of two vehicles with different suspension systems are compared. One of the vehicles has six wheels and six standard independent suspensions, which move along vehicle body lift coordinate. The other vehicle has four wheels and four independent suspensions to form an A-frame system. Each of the four suspensions can have large rotations around the join joining the vehicle body and the suspension. Based on kinematics analysis, the A-frame suspension vehicle has advantages in vertical position adjustment, stability for side slope surface crossing, hill climbing and descending, cornering, and isolation of body from acceleration and braking. The standard suspension vehicle has advantages in constant wheelbase, no sideslip while vehicle body changing its positions, simplicity in structure and mathematical modeling. According to dynamic response analysis for passive mode, the A-frame vehicle is better in handling and clearance maintenance and the standard independent suspension vehicle is better in ground irregularity isolation and traction force maintenance. This paper also introduces the applications of isometric charts for standard suspension vehicles. Each chart can be used to select spring and damper pairs for a group of standard suspension vehicles, which have different inertia and geometry properties.
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Chuen-Sen Lin, Chuen-Sen Lin, Wiexin Ian, Wiexin Ian, "Scalability studies and performance comparison of vehicles with two different suspensions", Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); doi: 10.1117/12.391621; https://doi.org/10.1117/12.391621

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