A Real-Time Multibody Dynamics Model for an Unmanned Robot Vehicle Based on the Subsystem Synthesis Method

摘要

In this chapter, real-time multibody dynamics models for an unmanned robot vehicle have been developed. The unmanned robot vehicle consists of six identical suspension subsystems. The suspension system comprises an MR-rotary damper and air springs with a double slider-crank mechanism. A 1/6 robot vehicle model was constructed, and then a full vehicle model was effectively generated by synthesizing six 1/6 robot vehicle models, using the subsystem synthesis method. An explicit-implicit integrator has been employed for the stable solutions. In order to improve efficiency, a model with simplified suspensions was also developed. The simplified suspension model consists of just a rotational spring-damper. Equivalent spring characteristics were obtained from approximating the characteristics of the original model. Through the rough terrain run simulations, the computational efficiency of the subsystem synthesis method was investigated with regard to the formulations, subsystem model simplification, and different integration methods.