A new suspension system of an autonomous caterpillar platform

Jurkiewicz, Andrzej; Nabagło, Tomasz; Kowal, Janusz; Apostoł, Marcin

doi:10.15632/jtam-pl.52.4.857

Cited by 7 publications

(3 citation statements)

References 7 publications

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“…Spiral springs can store great amounts of energy in a relatively small space due to strip bending under arbor rotation, being the stored energy a function of the bending curvatures along-the-strip length. Thanks to their high robustness and simplicity and their low cost, they are found in an ever increasing number of applications such as actuation and deployment in space robotics 1 – 3 , legged robots 4 , wearable robotics 5 , in micro and macro energy harvesters 6 , 7 , double-mass flywheels in automobile applications 8 , ballistics 9 , vibration isolation systems 10 , switchgears 11 , medical prostheses 12 , high voltage cable stressioners in railway lines, electric staplers or nail guns.…”

Section: Introductionmentioning

confidence: 99%

Automated resolution of the spiral torsion spring inverse design problem

Silva,

López-Navarrete,

García-Martos

et al. 2024

Sci Rep

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Many mechanical applications take advantage of spiral torsion springs due to their robustness, compactness, and simplicity. Brand-new manufacturing methods allow to create spiral springs with unconventional geometries and materials that suit a wider range of uses demanding either linearity or nonlinearity. Designing a spiral torsion spring with a nonlinear desired torque curve may be a great challenge, due to their many degrees-of-freedom (length, width, thickness, arbor, and barrel diameters, etc.) and the complexity of the geometrical and mechanical requirements to ensure their manufacturability, system compatibility, operation safety and reliability; and the solution is never unique. This manuscript proposes and validates an innovative methodology for the resolution of this inverse design problem based on the application of a nonlinear restrained global optimization algorithm. This algorithm is adjusted to converge, out of the infinity of designs that match the desired torque curve and hold all the functional and manufacturing constraints, to a design solution that minimizes strip mass. The methodology is built on a formulation for the calculation of the torque curve of a generalized spiral spring, with or without coiling and with any along-the-length cross-section, already published by the authors.

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Section: Introductionmentioning

confidence: 99%

Automated resolution of the spiral torsion spring inverse design problem

Silva,

López-Navarrete,

García-Martos

et al. 2024

Sci Rep

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show abstract

“…The suspension system of each road wheels consists a rocker and a torsion bar (Fig. 1), which imparts stiffness in this system (Jurkiewicz et al, 2014;Nabagło et al, 2014). The torsion bar is considered as a relatively simple and reliable solution.…”

Section: Introductionmentioning

confidence: 99%

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

Jurkiewicz

Kowal

Zając

2017

Acta Mechanica Et Automatica

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Abstract:The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous skyhook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.

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“…The suspension system of each road wheels consist a rocker and a torsion bar (fig. 1a), which imparts stiffness in this system [2,3] insufficient. On the basis of this observation, the researchers have used a magnetorheological damper in the simulation model of 2S1 suspension system [2].…”

Section: Introductionmentioning

confidence: 99%

Extended Kalman Filter in 2S1 Tracked Vehicle System with Hybrid Control

Jurkiewicz¹,

Kowal²,

Zając³

2016

SSP

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The essence of the undertaken topic is the problem of estimation of state vector in the model of 2S1 tracked vehicle suspension system through the use of Extended Kalman Filter. The use of non-linear filter has become necessary due to the magnetorheological damper located at suspension system, which has been described by hyperbolic model. Application of the damper caused the tested suspension system has become a semi-active structure in which the hybrid control was applied. The choice of this type of control stems from the fact that in the case of tracked combat vehicles in addition to the advantageous conditions of work of vehicle crew also cornering stability and the possibility of sudden acceleration or braking is important. The hybrid control allows to determine a compromise between ride comfort and stability of 2S1 platform.

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A new suspension system of an autonomous caterpillar platform

Cited by 7 publications

References 7 publications

Automated resolution of the spiral torsion spring inverse design problem

Automated resolution of the spiral torsion spring inverse design problem

Sky-Hook Control and Kalman Filtering in Nonlinear Model of Tracked Vehicle Suspension System

Extended Kalman Filter in 2S1 Tracked Vehicle System with Hybrid Control

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