Kinematic Method for Roll Center Analysis of a Half-Car Model With Variable Wheel Tread Width

Abstract

A kinematic analysis method that determines roll center of a planar half-car kinematic model with variable tread width is proposed. For this, a half-car model whose wheels are assumed to be connected to the ground by revolute and prismatic joints are constructed, and instantaneous centers of the wheels with respect to the ground of the model is estimated by poles of the wheels with respect to the ground for small roll displacement. Then, the theorem of three centers is applied to determine the locus of roll center of the half-car model. Using the proposed analysis method, roll displacement of vehicle body, wheel angle variation, wheel contact point variation, and centrodes of relative motion between vehicle body and the ground, which is the locus of roll center, can be calculated.

Dynamic Analysis of a Planar Suspension Mechanism Based on Kinestatic Relations

“…When the forces (or torques) τ act along the P-joints, the resultant wrench ŵ acting on the moving platform can be found as ŵ = J T p τ. (10) Then, the inverse static relation can be given by reciprocal Jacobian J rp as…”

“…The unit line vector r2 passes through the joints N 1 and N 3 (see in Figure 3b). Then, the wrench acting on the double-wishbone suspension mechanism can be determined from Equation (10) as…”

“…Tanik and Parlaktas [9] proposed a kinematic model of the double-wishbone suspension for the kinematic analysis. Lee and Shim [10] determined and compared the roll centers of three planar half-car models using the Aronhold-Kennedy theorem. Kim et al [11] suggested a new Jacobian approach to the kinestatic analysis of a planar half-vehicle model.…”