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The Infinitesimal Burmester Lines in Spatial Movement Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Singularity and Workspace Analyses of a 3-DOF Parallel Mechanism for Vehicle Suspensions

Authors : Fernando Malvezzi, Tarcisio Antonio Hess Coelho

Published in: Mechanisms, Transmissions and Applications

Publisher: Springer International Publishing

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Abstract

This work deals with the singularity and workspace analyses of a three-degree-of-freedom mechanism for rear independent suspensions, capable to adjust simultaneously the camber, rear steering and roll angles. This mechanism is able to improve handling performance when compared to the vehicle with a passive suspension mechanism. The inverse kinematic model was developed for the velocity kinematic analysis. The Jacobian matrices are applied to investigate the mechanism singularity configuration. Finally, the reachable workspace is obtained using the discretization method. The obtained results have shown there is not singular configuration inside the specified workspace. The available workspace can attend the camber and rear steering angles stroke. Moreover, this workspace can be obtained by using standard joints and actuators.

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Metadata
Title
Singularity and Workspace Analyses of a 3-DOF Parallel Mechanism for Vehicle Suspensions
Authors
Fernando Malvezzi
Tarcisio Antonio Hess Coelho
Copyright Year
2015
Book
Mechanisms, Transmissions and Applications

Print ISBN: 978-3-319-17066-4

Electronic ISBN: 978-3-319-17067-1

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-17067-1_32

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