Characteristics Analysis and Optimization Design of Suspension Mechanism of All-terrain Mobile Robot

doi:10.3901/JME.2022.09.071

Abstract

Abstract: Aiming at the passability and vibration reduction requirements when all-terrain mobile robot walking on various roads, a double-fork arm suspension in the vibration reduction mechanism is designed, and a mathematical model is established based on dynamic parameter analysis. The vibration of the suspension mechanism under the excitation with multi-road spectrum function is analyzed and co-simulated in ADMAS-Simulink. Also, the characteristic parameters of suspension, such as damper damping ratio, stiffness parameters and swing rod angle are optimized, in which the range of main design parameters including suspension and joint drive torque were determined. Further, the field walking test is carried out with two kinds of damper, including cobblestone, stone step, soil and grassland pavement, and that two damper parameters are compared. Finally, the experimental results show that the suspension mechanism and its parameters optimization could have a great affection on the vibration damping, which increase the effective output of steering moment and traction force. Dynamic modeling description and simulation analysis of suspension damping mechanism are verified. All of that will effectively improve the road adaptability, passability and walking stability of the all-terrain mobile robot.

Key words: all terrain mobile robot, damping suspension, dynamic characteristics, co-simulation

CLC Number:

TP242

WANG Buyun, PENG Wen, LIANG Yi, CHENG Jun, HU Hanchun, XU Dezhang. Characteristics Analysis and Optimization Design of Suspension Mechanism of All-terrain Mobile Robot[J]. Journal of Mechanical Engineering, 2022, 58(9): 71-86.

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