含圆弧形缓冲结构的仿袋鼠腿悬架建模与行为特性研究

宋勇; 刘林鑫; 李占龙; 连晋毅; 孟杰; 燕碧娟

doi:10.7652/xjtuxb202109004

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含圆弧形缓冲结构的仿袋鼠腿悬架建模与行为特性研究

更新时间：2025-07-09

- 含圆弧形缓冲结构的仿袋鼠腿悬架建模与行为特性研究
- Research on Modeling and Behavioral Characteristics of Bionic Kangaroo Leg Suspension with Circular Arc-Buffer Structures
- 西安交通大学学报 2021年55卷第9期页码：28-38
- 作者机构：
  
  太原科技大学机械工程学院,太原,030024
- 作者简介：
- 基金信息：
  
  : 2021-02-01。作者简介: 宋勇(1981—),男,副教授。基金项目: 国家自然科学基金资助项目(51805347);山西省自然科学基金资助项目(201901D111245;201901D211293)
- DOI：10.7652/xjtuxb202109004
  中图分类号： TH212;TH213.3
- 网络首发：2021-09-10，
  
  纸质出版：2021
- 稿件说明：
移动端阅览
宋勇, 刘林鑫, 李占龙, 等. 含圆弧形缓冲结构的仿袋鼠腿悬架建模与行为特性研究[J]. 西安交通大学学报, 2021,55(9):28-38.

Research on Modeling and Behavioral Characteristics of Bionic Kangaroo Leg Suspension with Circular Arc-Buffer Structures[J]. 2021, 55(9): 28-38.
宋勇, 刘林鑫, 李占龙, 等. 含圆弧形缓冲结构的仿袋鼠腿悬架建模与行为特性研究[J]. 西安交通大学学报, 2021,55(9):28-38. DOI： 10.7652/xjtuxb202109004.

Research on Modeling and Behavioral Characteristics of Bionic Kangaroo Leg Suspension with Circular Arc-Buffer Structures[J]. 2021, 55(9): 28-38. DOI： 10.7652/xjtuxb202109004.

摘要

为追求综合性能更优的车辆悬架

借鉴长期跳跃行进在复杂地形中的袋鼠腿部结构

针对一种含圆弧形缓冲结构的三连杆式仿袋鼠腿悬架(简称仿生悬架)开展研究。设计一种双圆弧道缓冲阻尼结构以模拟袋鼠腿跳跃运动中筋腱、肌肉等组织的缓冲减振效果

并将其布置于3个仿生关节处; 为探讨所提悬架的行为特性

采用Lagrange方程建立1/4车辆动力学模型; 通过Pro/E建立三维圆弧形缓冲结构并导入ADAMS进行悬架动力学特性仿真分析。研究发现:①仿生悬架运动参数间存在严重非线性耦合关系

其动力学方程难以解析求解。②采用亚元结构与柔性体相连并将约束施加到亚元结构的方法

可实现圆弧形缓冲结构实体建模与运动仿真。③随着路面等级和车速的增加

悬架的动态特性参数值增加

但均在合理范围内; 车身垂向加速度相对增长率降低

其传递率(10.7%～2%)整体呈下降趋势; 轮胎动位移传递率(8.6%～10.6%)增加

但变化平缓; 悬架结构设计合理

具有良好的路面适应性、高速舒适性和稳定性。④仿生悬架表现出良好的抗冲击性能。⑤仿生悬架各项特性参数均优于对比文献中传统悬架的

表明悬架仿生设计的正确性和有效性。⑥仿生悬架在2 Hz和14 Hz附近出现共振峰

避开了人体敏感的频率区间

表现出良好的频响特性。

Abstract

To pursue a vehicle suspension with better overall performance

a three-link bionic kangaroo leg suspension with circular arc-buffer structures is investigated based on the kangaroo leg structure jumping in complex terrain for long time(hereinafter the bionic suspension). A double circular arc-buffer structure is designed to simulate the buffering and damping effects of tendons

muscles and the other tissues in the kangaroo leg jumping motion

and it is arranged at the three bionic joints. For exploring the behavioral characteristics of the proposed suspension

a 1/4 vehicle dynamics model is constructed by Lagrange equations. A three-dimensional circular arc-buffer structure is established via Pro/E and imported into ADAMS for suspension dynamics simulation analysis. It is found that there is a serious nonlinear coupling relationship among the kinematic parameters of the bionic suspension

which leads a difficulty in solving the dynamics equations; the solid modeling and motion simulation can be carried out by connecting the sub-element structure with the flexible body and imposing the constraint to the sub-element structure to create a double circular arc constraint; with the increasing road grade and vehicle speed

the values of dynamic characteristic parameters rise up

but they are all within reasonable ranges; the relative growth rate of the body acceleration decreases and the overall transmissibility(10.7%-2%)shows a downward trend; the tire dynamic displacement transmissibility(8.6%-10.6%)increases and the transmissibility change is relatively gentle. The results indicate that the designed suspension structure is reasonable and the bionic suspension is endowed with good road adaptability

high speed comfort

stability and impact resistance. The characteristic parameters of the bionic suspension are better than those of the traditional suspension in the comparative literatures. The bionic suspension has resonance peaks around 2 Hz and 14 Hz

which avoids the sensitive frequency range of human body to demonstrate the good frequency response characteristics.

关键词

Keywords

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