Archive of Mechanical Engineering

Abstract

This paper presents an estimation method for the spatial pose and displacement parameters of multi-rod suspension mechanism, based on measurement results by using wire sensors. Some changes of position and orientation of the platform fixed to wheel knuckle cause corresponding changes of sensors' cable lengths. The fixation points of the cable sensors are selected with the collision-free conditions taken into account. Numerical example deals with platform poses and positioning of the sensors that satisfy the measurement conditions. NOMENCLATURE R -orientation matrix; a i -position vector of point A i with respect to coordinate system Oxyz; b i -position vector of point B i with respect to coordinate system Oxyz; o -position vector of original point (O) of reference system; l i -link vector of i-th leg/cable (with length l i