S.H. Jeong, W.S. Lee, and J.H. Kim (Korea)
Active Robotic Suspension, Skyhook, Optimal Control, Intelligent Control, Robot Design
In this research, we are trying to examine the feasibility of active robotic suspension with serial mechanism in order to resolve the inherent tradeoffs between ride quality and handling performance. Active robotic suspension will have the ability to behave differently on smooth and rough roads; the desired response should be soft in order to enhance ride comfort, but when the road surface is too rough the suspension should stiffen up to avoid hitting its limits. In addition, active robotic suspension system combines steering and suspension systems. So the unsprung mass is decreasing and the vehicle is simple. Therefore first step is that we must need to design motors, joints and links of active robotic suspension which substitute the previous suspension and analyze the dynamics and kinematics of active robotic suspension. The active robotic suspension will consist of several links connected in series by various types of joints, typically revolute and prismatic joints in order to move longitudinal rotation, vertical rotation and vertical translation. One end of active robotic suspension is attached to the ground and the other end is attached to vehicle body. This merit of open loop system is that each link is independent and is controlled easily
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