Kinematic Analysis of Parallel Mechanism for Multi-link Suspension

Jiang Mao; Xiaofei Zhu; Licheng Li

doi:10.16578/j.issn.1004.2539.2022.09.019

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Kinematic Analysis of Parallel Mechanism for Multi-link Suspension

Test·Analysis | 更新时间：2022-09-26

- Kinematic Analysis of Parallel Mechanism for Multi-link Suspension
- Journal of Mechanical Transmission Vol. 46, Issue 9, Pages: 140-145(2022)
- 作者机构：
  
  1.重庆城市科技学院电气工程与智能制造学院，重庆 402167
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.09.019
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毛江,朱小飞,李立成.可用于多连杆悬架的并联机构运动学分析[J].机械传动,2022,46(09):140-145.

Mao Jiang,Zhu Xiaofei,Li Licheng.Kinematic Analysis of Parallel Mechanism for Multi-link Suspension[J].Journal of Mechanical Transmission,2022,46(09):140-145.
毛江,朱小飞,李立成.可用于多连杆悬架的并联机构运动学分析[J].机械传动,2022,46(09):140-145. DOI： 10.16578/j.issn.1004.2539.2022.09.019.

Mao Jiang,Zhu Xiaofei,Li Licheng.Kinematic Analysis of Parallel Mechanism for Multi-link Suspension[J].Journal of Mechanical Transmission,2022,46(09):140-145. DOI： 10.16578/j.issn.1004.2539.2022.09.019.

摘要

并联机构具有刚度大、响应快和精度高等优点，适用于悬架领域。提出了一种用于汽车多连杆悬架的新型并联机构。建立机构运动学模型，结合螺旋理论，通过位姿参数分析机构空间运动特点，得到表征运动的螺旋量近似为偶量；结合汽车悬架运动学概念，利用齐次变换矩阵给出车轮定位参数，运用螺旋理论提出了悬架瞬时运动学分析方法。

Abstract

Parallel mechanism has the advantages of large stiffness，fast response and high precision， which is suitable for suspension field. A new type of parallel mechanism for automobile multi-link suspension is proposed， the kinematic model of the mechanism is established， combined with the screw theory， the spatial motion characteristics of the mechanism are analyzed through the pose parameters， and the screw amount representing the motion is approximately even. Combined with the kinematics concept of the automobile suspension， the wheel positioning parameters are given using the homogeneous transformation matrix. The instantaneous kinematic analysis method of the suspension is proposed using the screw theory.

关键词

并联机构多连杆悬架位姿参数运动学

Keywords

Parallel mechanismMulti-link suspensionPose parametersKinematics

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