Arm-Wheel Robotic Vehicle Suspension System for Stability Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing suspension systems in arm-wheel robotic vehicles struggle to maintain stability, especially on uneven or sloped surfaces, due to their vertically disposed structure, which raises the center of gravity and limits control over vehicle posture.
Innovation Solution
A suspension system with a resilient member, such as a coil spring or hydro strut, and a displacement variable actuator, that generates a counter moment to absorb impact and control vehicle stability by adjusting the position of the resilient member in conjunction with a pivot arm, allowing for improved angular displacement and reduced center of gravity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a vertically disposed suspension system is used to absorb shocks, then the vehicle can traverse uneven surfaces, but the center of gravity is raised and vehicle stability deteriorates
Solution Approach 1:
The suspension system is inverted from a vertical configuration to a horizontal configuration. The resilient member is disposed substantially parallel to the ground surface rather than vertically, which allows shock absorption while maintaining a lower center of gravity and improving vehicle stability.
Solution Approach 2:
The suspension system transitions from a one-dimensional vertical arrangement to a two-dimensional horizontal arrangement. This dimensional change allows the resilient member to absorb shocks in the vertical direction while the system itself is oriented horizontally, resolving the contradiction between shock absorption and stability.
2Object-affected harmful factors
If a vertically disposed suspension system is used, then shock absorption is achieved, but control over vehicle posture on sloped surfaces deteriorates
Solution Approach 1:
By inverting the suspension system from vertical to horizontal orientation, the resilient member can now effectively counteract impact moments while allowing the vehicle to maintain better posture control on sloped surfaces. The horizontal disposition enables the suspension to work in conjunction with the vehicle's longitudinal axis.
Solution Approach 2:
The orientation parameter of the suspension system is changed from vertical to horizontal. This parameter change allows the suspension to generate counter moments that are substantially parallel to the ground surface and vehicle length direction, improving posture control capability.
3Stability of the object's composition
If four suspension systems are controlled at different rates to maintain horizontal vehicle body, then vehicle stability is improved, but system complexity increases
Solution Approach 1:
The horizontally disposed suspension system with resilient members can simultaneously perform multiple functions: absorbing shocks, maintaining vehicle body horizontality, and providing posture control. This multi-functionality reduces the need for complex differential control mechanisms.
Solution Approach 2:
The suspension system is designed to naturally maintain the vehicle body in a horizontal state through its horizontal resilient members, creating an equipotential condition where all suspension elements work in unison rather than requiring differentiated control rates.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enhances vehicle stability by lowering the center of gravity and allowing greater angular adjustments, enabling better control and traversal of obstacles and uneven terrain without destabilizing the vehicle body.
Implementation Method 1
a resilient member disposed to generate a counter moment in a direction which offsets an impact moment applied to the arm from the bottom unit by an external force exerted on the bottom unit
Implementation Method 2
The resilient member may also be a hydro strut that employs fluid pressure and gas
Implementation Method 3
The resilient member may also be a magnetic reaction fluid damper that changes in viscosity through magnetic reaction
Data Source
AI summary
A vehicle and a suspension system, for stabilizing vehicle disposition by lowering the center of gravity, and improving stability control performance are provided. The vehicle includes a body, at least one arm, a bottom unit, which may be a wheel, coupled to one end of an arm of the at least one arm, and a suspension system having a spring disposed to generate a counter moment in a direction that offsets an impact moment applied to the arm that is subjected to an impact.