CN102358121B - Multi-link straight line guide independent suspension with 3-RRR telescopic compensation mechanism - Google Patents

Abstract

The invention relates to a multi-link straight line guide independent suspension with a 3-RRR telescopic compensation mechanism. The suspension comprises a vehicle wheel, a vehicle body or a vehicle frame, a spring shock absorber system and a steering knuckle, wherein the steering knuckle is connected with the vehicle wheel through a hub unit; the spring shock absorber system is respectively connected with the steering knuckle and the vehicle boy or the vehicle frame through a ball pair; the suspension also comprises four suspension branched chains; each suspension branched chain comprises an inside link, an outside link and three same RRR kinematic chains formed by three rotating pairs; and the three same RRR kinematic chains are arranged along the axis of a suspension branched chain symmetrically at an angle of 120 degrees. By using the suspension, positioning parameters such as a vehicle wheel camber angle, a kingpin inclination angle, a kingpin caster angle, a vehicle wheel toe-in (toe-out), the distance between left and right wheels, wheel base and the like are remained unchanged all the time during a bouncing up and down process of the vehicle wheel, so that the abrasion of tires is reduced effectively, and the vehicle handling stability, the driving smoothness and the riding comfort degree can be improved effectively.

Description

A kind of many link linear guide independent suspensions with 3-RRR flexible compensation mechanism

Technical field

The present invention relates to a kind of automobile suspension system, especially a kind of many link linear guide independent suspensions with 3-RRR flexible compensation mechanism.

Background technology

Suspension be guarantee between wheel or vehicle bridge and automobile bearing system (vehicle frame or self-supporting body) to have the elasticity contact and can transmitted load, mitigation impact, damped vibration and the vehicles general name of the relative assembly such as vehicle body position in the process of moving.General suspension mainly is comprised of elastic element, shock absorption device and guiding mechanism three parts.In some cases, a certain parts held concurrently two kinds or three kinds of effects, such as the steel spring effect of elastic element and guiding mechanism of having held concurrently.Wherein the function of guiding mechanism is to guarantee force and moment reliable delivery all between wheel and vehicle body or vehicle frame, and determines the placement property of wheel with respect to vehicle body or vehicle frame.Path of motion when guiding mechanism has determined wheel bounce and the situation of change of wheel alignment parameter, and the position at roll center and trim center before and after automobile, affected road-holding property and the anti-trim ability of car load to a great extent.

According to the characteristics of guiding mechanism, automotive suspension mainly can be divided into dependent suspension and the large class of independent suspension two.The characteristic feature of dependent suspension is by a buttress bracing struts or non-disconnected vehicle bridge, to be connected between left and right wheels, when monolateral wheel bounce, directly has influence on the opposite side wheel.The independent suspension left and right wheels is connected or forms broken bridge of car with vehicle body or vehicle frame " independence " separately.In addition, also have the semi-independent suspension of a kind of characteristics between dependent suspension and independent suspension.The dependent suspension shortcoming is obvious, such as left and right wheels beat interact, non-suspended mass is larger etc., can not meet the requirement of current vehicle running smoothness and road-holding property aspect, so independent suspension has obtained very large development.

The constructional feature of independent suspension is that the wheel of both sides connects with vehicle body or vehicle frame by resilient suspension individually, and vehicle bridge is made breakaway-element.Therefore, independent suspension has following advantage: one, at suspension spring in certain deformation range, the both sides wheel can self-movement, and be independent of each other, can reduce the vibration of vehicle frame and vehicle body while travelling like this on rough road, and contribute to eliminate the bad phenomenon of the continuous beat of wheel flutter, and promoted automobile straight line driveability, guaranteed good road-holding property.Two, reduced the automobile nonspring carried mass.In the dependent suspension situation, whole vehicle bridge and wheel all belong to the nonspring carried mass part.In the independent suspension situation, for drive axle, due to main reduction gear, diff and shell thereof all are fixed on vehicle frame, have become spring carried mass; For steeraxle, it only has steering yoke bolt and steering swivel, and the unjointed beam at middle part no longer exists.So, while adopting independent suspension, nonspring carried mass comprises all or part of quality of a part of part in wheel mass and suspension system, during obviously than the use dependent suspension, nonspring carried mass is much smaller.When road conditions is identical with the speed of a motor vehicle, nonspring carried mass is less, and the suffered impact load of suspension is less, therefore adopt independent suspension can improve the ground connection performance of vehicle running smoothness and tire.While three, adopting broken bridge of car, the position of engine assembly just can reduce and reach descends centre of gravity of vehicle, has improved Riding Stability of Automobile.Give the up-and-down movement space that wheel is larger simultaneously, thereby can design littlely by suspension rate, the body vibrations frequency is reduced, to improve riding comfort.Four, be easy to realize that drive wheel turns to.Above advantage is widely used on modern automobile independent suspension, and particularly the wheel flutter of car has all generally adopted independent suspension, and in order to improve driving safety, the rear overhang of increasing luxury car has also adopted independent suspension.

At present, on automobile, most widely used independent suspension mainly contains: double cross arm independent suspension, macpherson suspension and multi-connecting-rod separated suspension.The outstanding advantages of double cross arm independent suspension is flexible design, but while adopting the automotive wheel of this suspension to beat, wheel alignment parameter and wheelspan change greatly, have reduced automobile straight line driveability, cause road-holding property poor, simultaneously the tire serious wear.McPherson suspension advantage be simple in structure, save space, and in the wheel bounce process, the positional parameters such as its wheelspan, toe-in and outward camber change little, alleviated wear on tyres, also make automobile there is road-holding property preferably, but its designability has been poor, and there is friction force between the piston rod of bumper and orienting sleeve, make the dynamic stiffness of suspension increase, the elastic behavior variation, especially when little displacement, this impact is more remarkable.The advantage of multi-connecting-rod separated suspension is mainly that in the time of can guaranteeing wheel bounce, wheel alignment parameter changes very little, but its design flexibility is poor, very responsive to the bar linkage structure parameter, the processing and manufacturing accuracy requirement is high, the equipment adjustment difficulty, be mainly used in medium-to-high grade car at present.

Although conventional independent suspension can both meet the suspension design requirement on function at present, when wheel bounce, wheel alignment parameter all can change.In actual applications, the variation of any positional parameter of wheel all can have a negative impact to vehicle handling stability or other aspect performances, descend such as the variation of wheelspan can cause automobile straight line driveability, also cause rolling resistance to increase and on the impact of steering swivel system simultaneously; The variation of camber angle can cause the inordinate wear of tire.

In the time of how can guaranteeing wheel bounce, can not change be a Focal point and difficult point in the independent suspension innovative design to the positional parameter of wheel.Zhao of Tsing-Hua University Jingshan mountain etc. once proposed three kinds of linear guiding mechanisms that can be used in automotive suspension, referring to [1. Zhao Jingshan mountain, Chu Fulei. vertical translation type spacing multi-connecting-rod separated suspension [P]. Chinese patent: 200610113114.2, 2007-2-28.] [2. Zhao Jingshan mountain, Zhao Sheng, Feng respects, Chu Fulei. a kind of independent rear suspension [P] that can keep wheel alignment parameter constant. Chinese patent: 200910001094.3, 2009-7-8.] [3. Zhao Jingshan mountain, Wang Jianyi. spatial multi-connecting bar forktruck lift guide mechanism [P]. Chinese patent: 200910085582.7, 2009-11-4.].In above-mentioned patent [1] [2], the suspension side chain is the RRR kinematic link, and it is along poor perpendicular to the direction bending stiffness on the determined plane of RRR kinematic link; The suspension side chain is the RPR kinematic link in patent [3], have preferably each to rigidity, but the RPR kinematic link is not suitable for use in the suspension guide mechanism owing to existing moving sets to cause mobile vice division chief cliding friction larger.

Summary of the invention

The present invention will solve the shortcoming of above-mentioned prior art, a kind of many link linear guide independent suspensions with 3-RRR flexible compensation mechanism that can be used for Motor Vehicle Independent Suspension System are provided, camber angle, Kingpin inclination angle and casterangle, left and right wheels distance, toeing-in (posterior cord) and the wheel base of realizing wheel can remain constant in wheel bob process, thereby improve road-holding property, the riding comfort of automobile and the traveling comfort of taking, and can effectively reduce the wearing and tearing of tire.Simultaneously, under the prerequisite with stronger exploitativeness, can guarantee that this independent suspension has large respectively to rigidity, reduce as far as possible the stand under load distortion.

The present invention solves the technical scheme that its technical matters adopts: this many link linear guide independent suspensions with 3-RRR flexible compensation mechanism, comprise wheel, vehicle body or vehicle frame, spring damper system and steering swivel, described steering swivel connects with wheel by hub, the spring damper system connects with steering swivel and vehicle body or vehicle frame respectively by the bulb pair, also comprise four suspension side chains, it is respectively upside article one suspension side chain, upside second suspension side chain, downside article one suspension side chain, downside second suspension side chain; Described suspension side chain includes inboard connecting rod, outside connecting rod and three identical RRR kinematic links that consist of three revolute pairs, is called for short 3-RRR mechanism, and three identical RRR kinematic links along suspension prop up chain axis be 120 ° symmetrical; Described RRR kinematic link comprises first connecting rod and second connecting rod, first connecting rod connects by the first kinematic link revolute pair with inboard connecting rod, first connecting rod connects by the second kinematic link revolute pair with second connecting rod, and second connecting rod connects by the 3rd kinematic link revolute pair with outside connecting rod; Described upside article one suspension side chain and upside second suspension side chain connect with vehicle body or vehicle frame by the first revolute pair and the second revolute pair respectively, and by the 3rd revolute pair and the 4th revolute pair, with steering swivel, connect respectively, described downside article one suspension side chain and downside second suspension side chain connect with vehicle body or vehicle frame by the 5th revolute pair and the 6th revolute pair respectively, and by the 7th revolute pair and the 8th revolute pair, with steering swivel, connect respectively; In described upside suspension side chain, the axis of the first revolute pair and the 3rd revolute pair is all perpendicular to line A ₁b ₁the vertical plane at place, the axis of the second revolute pair and the 4th revolute pair is all perpendicular to line A ₂b ₂the vertical plane at place, in described downside suspension side chain, the axis of the 5th revolute pair and the 7th revolute pair is all perpendicular to line C ₁d ₁the vertical plane at place, the axis of the 6th revolute pair and the 8th revolute pair is all perpendicular to line C ₂d ₂the vertical plane at place; The intersection on two determined two vertical planes of suspension side chain of the intersection on two determined two vertical planes of suspension side chain of described upside and downside overlaps or is parallel; Described upside article one suspension side chain and upside second suspension side chain be about crossing above-mentioned intersection and being parallel to the vertical plane symmetry of wheel axis, and described downside article one suspension side chain and downside second suspension side chain are about crossing above-mentioned intersection and being parallel to the vertical plane symmetry of wheel axis.

As preferably, in order rationally to change suspension travel and suspension stressing conditions, in described 3-RRR kinematic link, first connecting rod and second connecting rod length can design according to suspension travel, and 3-RRR mechanism increases one or more of RRR kinematic links, and every RRR kinematic link to prop up chain axis along suspension symmetrical.

As preferably, described 3-RRR mechanism and the first kinematic link revolute pair and the 3rd kinematic link revolute pair form 3-RRR parts as a whole, these 3-RRR parts be bolted or welding etc. other be fixedly connected with mode and connect with inboard connecting rod and outside connecting rod.

As preferably, described suspension fork mechanism increases one or more suspension side chains, and the vertical plane at the suspension side chain place added and the vertical plane intersection line at other suspension side chain places overlap or be parallel.

As preferably, for the stability of configuration and the raising load-carrying capacity that improve suspension, the angle on the vertical plane at the angle on the vertical plane at described upside article one suspension side chain place and the vertical plane at upside second suspension side chain place and the vertical plane at downside article one suspension side chain place and downside article one suspension side chain place is unequal; The distance of described upside article one suspension side chain or upside second suspension side chain projection on horizontal surface is unequal with downside article one suspension side chain or downside second suspension side chain distance of projection on horizontal surface.

Inventing useful effect is: with respect to traditional independent suspension, many link linear guide independent suspensions with 3-RRR flexible compensation mechanism provided by the invention, the positional parameters such as camber angle, Kingpin inclination angle and casterangle, toeing-in (posterior cord), left and right wheels distance and wheel base that can realize wheel can remain constant in wheel bob process, thereby effectively reduce the wearing and tearing of tire, and can effectively improve road-holding property, the riding comfort of automobile and the traveling comfort of taking; With respect to existing patent, four suspension side chains of the many link linear guide independent suspensions with 3-RRR flexible compensation mechanism provided by the invention are positioned at different vertical planes, and the length difference of suspension side chain, can guarantee that suspension has preferably respectively to rigidity, simultaneously, its structure is similar to existing double cross arm independent suspension, has simple in structure, designability is strong, the convenient outstanding advantages that waits of equipment adjustment.

The accompanying drawing explanation

Fig. 1 is the many link linear guide independent suspensions with 3-RRR flexible compensation mechanism provided by the invention and the structural representation of annex thereof.

Fig. 2 is upside article one suspension branched structure schematic diagram in this independent suspension;

Fig. 3 is the birds-eye view of this independent suspension;

Fig. 4 be this independent suspension the way limit that slips a line in theory (a) and under way limit (b) schematic diagram that slips a line;

Fig. 5 is the inboard bar linkage structure schematic diagram of the suspension side chain of this independent suspension;

Fig. 6 is the suspension side chain outside bar linkage structure schematic diagram of this independent suspension;

Fig. 7 is first connecting rod structural representation in the suspension side chain 3-RRR kinematic link of this independent suspension;

Fig. 8 is second connecting rod structural representation in the suspension side chain 3-RRR kinematic link of this independent suspension;

Fig. 9 is RRR kinematic link and RPR kinematic link mechanism principle figure;

Figure 10 is the suspension side chain mechanism principle schematic diagram of this independent suspension;

Figure 11 is the journey mechanism principle schematic diagram that slips a line up and down of this independent suspension;

Description of reference numerals: wheel 1, steering swivel 2, upside article one suspension side chain 3a, upside second suspension side chain 3b, spring damper system 4, downside article one suspension side chain 5a, downside second suspension side chain 5b, vehicle body or vehicle frame 6, inboard connecting rod 7, first connecting rod 8a, second connecting rod 8b, outside connecting rod 9, the first revolute pair A ₁, the second revolute pair A ₂, the 3rd revolute pair B ₁, the 4th revolute pair B ₂, the 5th revolute pair C ₁, the 6th revolute pair C ₂, the 7th revolute pair D ₁, the 8th revolute pair D ₂, the first kinematic link revolute pair E, the second kinematic link revolute pair F, the 3rd kinematic link revolute pair G.

The specific embodiment

Below in conjunction with accompanying drawing, the invention will be further described:

Embodiment 1: as Fig. 1, this many link linear guide independent suspensions with 3-RRR flexible compensation mechanism, comprise wheel 1, vehicle body or vehicle frame 6, spring damper system 4 and steering swivel 2, described steering swivel 2 connects with wheel 1 by hub, spring damper system 4 connects with steering swivel 2 and vehicle body or vehicle frame 6 respectively by the bulb pair, also comprise four suspension side chains, respectively upside article one suspension side chain 3a, upside second suspension side chain 3b, downside article one suspension side chain 5a, downside second suspension side chain 5b; Described suspension side chain includes inboard connecting rod 7, outside connecting rod 9 and three identical RRR kinematic links that consist of three revolute pairs, is called for short 3-RRR mechanism, and three identical RRR kinematic links along suspension prop up chain axis be 120 ° symmetrical; Described RRR kinematic link comprises first connecting rod 8a and second connecting rod 8b, first connecting rod 8a connects by the first kinematic link revolute pair E with inboard connecting rod 7, first connecting rod 8a connects by the second kinematic link revolute pair F with second connecting rod 8b, and second connecting rod 8b connects by the 3rd kinematic link revolute pair G with outside connecting rod 9; Described upside article one suspension side chain 3a and upside second suspension side chain 3b are respectively by the first revolute pair A ₁with the second revolute pair A ₂with vehicle body or vehicle frame 6, connect, and respectively by the 3rd revolute pair B ₁with the 4th revolute pair B ₂with steering swivel 2, connect, described downside article one suspension side chain 5a and downside second suspension side chain 5b are respectively by the 5th revolute pair C ₁with the 6th revolute pair C ₂with vehicle body or vehicle frame 6, connect, and respectively by the 7th revolute pair D ₁with the 8th revolute pair D ₂with steering swivel 2, connect; The first revolute pair A in described upside suspension side chain ₁with the 3rd revolute pair B ₁axis all perpendicular to line A ₁b ₁the vertical plane at place, the second revolute pair A ₂with the 4th revolute pair B ₂axis all perpendicular to line A ₂b ₂the vertical plane at place, the 5th revolute pair C in described downside suspension side chain ₁with the 7th revolute pair D ₁axis all perpendicular to line C ₁d ₁the vertical plane at place, the 6th revolute pair C ₂with the 8th revolute pair D ₂axis all perpendicular to line C ₂d ₂the vertical plane at place; The intersection on two determined two vertical planes of suspension side chain of the intersection on two determined two vertical planes of suspension side chain of described upside and downside overlaps or is parallel; Described upside article one suspension side chain 3a and upside second suspension side chain 3b be about crossing above-mentioned intersection and being parallel to the vertical plane symmetry of wheel 1 axis, and described downside article one suspension side chain 5a and downside second suspension side chain 5b are about crossing above-mentioned intersection and being parallel to the vertical plane symmetry of wheel 1 axis.

Described 3-RRR mechanism and the first kinematic link revolute pair E and the 3rd kinematic link revolute pair G form 3-RRR parts as a whole, these 3-RRR parts be bolted or welding etc. other be fixedly connected with mode and connect with inboard connecting rod 7 and outside connecting rod 9.

Described suspension fork mechanism can increase one or more suspension side chains, and the vertical plane at the suspension side chain place added overlaps with the vertical plane intersection line at other suspension side chain places or be parallel.

In order to meet actual automotive suspension design needs, improve strength and stiffness and the load-carrying capacity of suspension fork mechanism, the angle on the vertical plane at the angle on the vertical plane at described upside article one suspension side chain 3a place and the vertical plane at upside second suspension side chain 3b place and the vertical plane at downside article one suspension side chain 5a place and downside article one suspension side chain 5b place is unequal; The distance of described upside article one suspension side chain 3a or upside second suspension side chain 3b projection on horizontal surface is unequal with downside article one suspension side chain 5a or downside second suspension side chain 5b distance of projection on horizontal surface.

In order rationally to change suspension travel and suspension stressing conditions, in described 3-RRR mechanism, first connecting rod 8a and second connecting rod 8b length can design according to suspension travel.

Fig. 2 is 3-RRR mechanism structure schematic diagram in spacing multi-connecting-rod linear guiding suspension fork mechanism provided by the invention, 3-RRR mechanism makes the suspension side chain only have telescopic moving degree of freedom vertically, and this feature is to guarantee that independent suspension provided by the present invention has one of key takeaway of linear guiding function.Therefore, at first we analyze the kinematic principle that this 3-RRR mechanism can keep this feature.

Here upside article one suspension side chain 3a of take is example, and the kinematic principle of 3-RRR mechanism is analyzed, and wherein has three RRR kinematic links, and the first kinematic link revolute pair E established on i bar RRR kinematic link is E _i(i=1,2,3), in like manner, the second kinematic link revolute pair F is F _i(i=1,2,3), the 3rd kinematic link revolute pair G is G _i(i=1,2,3).Model suspension side chain local coordinate system o ₁x ₁y ₁z ₁, with the first revolute pair A ₁axis is x ₁axle, the central axis of suspension side chain of take is y ₁axle, its intersection point is origin of coordinates o ₁, then according to right-hand rule, can set up z ₁axle, as shown in Figure 2.Article one, the mechanism principle figure of suspension side chain 3a as shown in Figure 9, is established the first revolute pair A ₁to the first kinematic link revolute pair E ₁axis is along y ₁the distance of axle is l ₁, along z ₁the distance of axle is l ₄, the length of first connecting rod 8a and second connecting rod 8b is l ₂, the 3rd revolute pair B ₁to the 3rd kinematic link revolute pair G ₁axis is l along the distance of connecting rod axis ₃, the angle of first connecting rod 8a and the 2nd 8b is θ.In the 3-RRR kinematic link, the coordinate at each revolute pair center is respectively:

E ₁(0 l ₁ l ₄)；

$E_2\left(\begin{array}{ccc}-\frac{\sqrt{3}{l}_4}{2}& l_1& -\frac{l_4}{2}\end{array}\right);$

$E_2\left(\begin{array}{ccc}\frac{\sqrt{3}{l}_4}{2}& l_1& -\frac{l_4}{2}\end{array}\right);$

$F_1\left(\begin{array}{ccc}0& {l_1+\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2}& l_4+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\cos \frac{\mathrm{\&theta;}}{2}\end{array}\right);$

$F_2\left(\begin{array}{ccc}-\frac{\sqrt{3}}{2}(l_4+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\cos \frac{\mathrm{\&theta;}}{2})& {l_1+\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2}& \frac{1}{2}(l_4+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\cos \frac{\mathrm{\&theta;}}{2})\end{array}\right);$

$F_3\left(\begin{array}{ccc}\frac{\sqrt{3}}{2}(l_4+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\cos \frac{\mathrm{\&theta;}}{2})& l_1+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2}& \frac{1}{2}(l_4+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\cos \frac{\mathrm{\&theta;}}{2})\end{array}\right);$

$G_1\left(\begin{array}{ccc}0& {l_1+2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2}& l_4\end{array}\right);$

$G_2\left(\begin{array}{ccc}-\frac{\sqrt{3}}{2}{l}_4& {l_1+2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2}& \frac{1}{2}{l}_4\end{array}\right);$

$G_3\left(\begin{array}{ccc}\frac{\sqrt{3}}{2}{l}_4& l_1+{2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2}& \frac{1}{2}{l}_4\end{array}\right)$

According to [Zhao Jingshan, Feng Zhijing, Chu Fulei. robot mechanism Degree of Freedom Analysis theoretical [M]. Beijing: Science Press, 2009.] analysis theories of the mechanism freedom that proposes, the kinematic screw that can write out the kinematic link E1F1G1 of outside connecting rod 9 is:

Wherein

Obviously, matrix the condition of contraction is:

$\left|\begin{array}{ccc}1& l_4& {-l}_1\\ 1& l_4+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\cos \frac{\mathrm{\&theta;}}{2}& -(l_1+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2})\\ 1& l_4& -(l_1+{2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \frac{\mathrm{\&theta;}}{2})\end{array}\right|=0---\left(C1\right)$

${-\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2^2\sin \mathrm{\&theta;}=0$

If condition (C1) is set up, θ=0 ° or θ=180 °, now correspond to two connecting rods of RRR kinematic link and overlap or parastate, is the mechanism dead point, in practical set-up, can not allow this situation to occur, so matrix

not there will be contraction, condition (C1) is false.

The end conswtraint of kinematic link E1F1G1 can be obtained by the reciprocity screw theory,

$E$ ^r＝0 (2)

Wherein $ is kinematic screw system, $E=\left[\begin{array}{cc}0& I_3\\ I_3& 0\end{array}\right],$ $I_3=\left[\begin{array}{ccc}1& 0& 0\\ 0& 1& 0\\ 0& 0& 1\end{array}\right],$ $ ^rantispin system for $.

Can be obtained kinematic link E by (2) formula ₁f ₁g ₁end conswtraint for:

In like manner, kinematic link E ₂f ₂g ₂end conswtraint

for:

In like manner, can try to achieve kinematic link E ₃f ₃g ₃end conswtraint

for:

What therefore, outside connecting rod 9 was subject to is constrained to:

By formula (6) bring into formula (2) can try to achieve the outside connecting rod 9 free motion be:

$ ₉＝[0 0 0 0 1 0] (7)

Formula (7) shows that 9, the connecting rod in the outside has along y ₁the degree of freedom of axle motion, so this 3-RRR mechanism can guarantee that the suspension side chain only has telescopic moving degree of freedom vertically.

Fig. 3 is the many link linear guide independent suspensions birds-eye view with 3-RRR flexible compensation mechanism provided by the invention, according to Fig. 3, can find, the vertical plane, end face place of steering swivel 2 all the time with the side plane keeping parallelism of vehicle frame or vehicle body 6, in Fig. 3, A ₁a ₂//B ₁b ₂and A ₁a ₂to B ₁b ₂the distance also remain constant.This feature is to be determined by the mechanical feature of the many link linear guide independent suspensions with 3-RRR flexible compensation mechanism provided by the invention.Therefore, next just analyze the kinematic principle that this suspension fork mechanism keeps this feature.

The kinematic principle of the many link linear guide independent suspensions with 3-RRR flexible compensation mechanism provided by the invention is described for convenience, here with the first revolute pair A ₁with the second revolute pair A ₂the plane at two axis places be the xoy plane, the intersection point of these two axis of take is the origin of coordinates, with two revolute pair A ₂axis be that the x axle is set up right-handed system.As the first revolute pair A ₁with the second revolute pair A ₂two axis when mutually orthogonal, as shown in Figure 3, the y axle just with the first revolute pair A ₁dead in line.Like this, vertical plane and the xoz plane parallel at upside article one suspension side chain 3a place, vertical plane and the yoz plane parallel at upside second suspension side chain 3b place.This corresponding relation can clearly be found out from the mechanism's birds-eye view shown in Fig. 3.

Below analyze the motion characteristics of steering swivel 2.Due to the vertical Plane intersects at four suspension side chain places in same straight line, and the motion characteristics of steering swivel is determined by this characteristic, and the suspension branched structure of upper and lower sides is similar, therefore only need to analyze wherein two suspension side chains of upside (or downside) obtains the motion characteristics of steering swivel 2 to the effect of steering swivel 2 in theory.Without loss of generality, establish the first revolute pair A ₁axis to the angle of x axle, be ψ (0 °<ψ<180 °), the second revolute pair A ₂distance to the origin of coordinates is a, the first revolute pair A ₁distance to the origin of coordinates is b, can obtain the second revolute pair A ₂coordinate be (a 0 0), the first revolute pair A ₁coordinate be (bcos ψ bsin ψ 0).On this basis, can establish the 4th revolute pair B ₂with the 3rd revolute pair B ₁coordinate be followed successively by with

the 3RRR kinematic link can guarantee that the suspension side chain only has one degree of freedom, and the suspension side chain moves vertically, so the 3-RRR kinematic link can equivalence be regarded a moving sets as.If the axis of upside article one suspension side chain 3a and the angle on xoy plane are α.If a ≠ b, member easily is subject to eccentric load, is unfavorable for stability of configuration, therefore makes a=b.

Under the oxyz system of axes, the second revolute pair A ₂with the 4th revolute pair B ₂the direction vector of axis is s ₁=(1 0 0) ^t, the first revolute pair A ₁with the 3rd revolute pair B ₁the direction vector of axis is s ₂=(cos ψ sin ψ 0) ^t, upside article one suspension side chain 3a equivalence moving sets direction vector is $s_{3a}={\left(\begin{array}{ccc}{x}_{B_1}-b\cos \mathrm{\&psi;}& y_{B_1}-b\sin \mathrm{\&psi;}& z_{B_1}\end{array}\right)}^T,$ Upside second suspension side chain 3b equivalence moving sets direction vector is $s_{3b}={\left(\begin{array}{ccc}0& y_{B_2}& z_{B_2}\end{array}\right)}^T.$ The birds-eye view of mechanism shown in Fig. 3 assembling has meaned the situation when ψ=90 °.Can write out the kinematic link A of steering swivel 2 ₂b ₂kinematic screw be:

Wherein

Obviously,

the condition of contraction is:

$\left|\begin{array}{cc}{y}_{B_2}& z_{B_2}\\ z_{B_2}& {-\mathrm{<figure-callout\; id="2"\; label="y\; B"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">y</figure-callout>}}_{B_{}}\end{array}\right|=0---\left(C_2\right)$

Because

$\left|\begin{array}{cc}{y}_{B_2}& z_{B_2}\\ z_{B_2}& {-\mathrm{<figure-callout\; id="2"\; label="y\; B"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">y</figure-callout>}}_{B_{}}\end{array}\right|=-({\mathrm{<figure-callout\; id="2"\; label="y\; B"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">y</figure-callout>}}_{B_{}}^{{}_2}+{\mathrm{<figure-callout\; id="2"\; label="z\; B"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">z</figure-callout>}}_{B_{}}^{{}_2})$

If

be zero simultaneously, the second revolute pair A ₂with the 4th revolute pair B ₂overlap.The second revolute pair A in reality ₂with the 4th revolute pair B ₂do not overlap, therefore

when different, be zero, condition (C ₂) be false, kinematic link A ₂b ₂end conswtraint

can be obtained by the reciprocity screw theory.By (2) formula, can be obtained

for:

Equally, can write out another kinematic link A of steering swivel 2 ₁b ₁kinematic screw be:

Wherein

And

the condition of contraction is:

$\left\{\begin{array}{c}\left|\begin{array}{cc}{x}_{B_1}-b\cos \mathrm{\&psi;}& y_{B_1}-b\sin \mathrm{\&psi;}\\ {-z}_{B_1}\sin \mathrm{\&psi;}& z_{B_1}\cos \mathrm{\&psi;}\end{array}\right|=0\\ \left|\begin{array}{cc}{y}_{B_1}-b\sin \mathrm{\&psi;}& z_{B_1}\\ z_{B_1}\cos \mathrm{\&psi;}& x_{B_1}\sin \mathrm{\&psi;}-y_{B_1}\cos \mathrm{\&psi;}\end{array}\right|=0\end{array}\right.---\left(C_3\right)$

Due to the axis of the moving sets axis perpendicular to revolute pair, so have

abbreviation obtains

so have

$\left|\begin{array}{cc}{y}_{B_1}-b\sin \mathrm{\&psi;}& z_{B_1}\\ z_{B_1}\cos \mathrm{\&psi;}& x_{B_1}\sin \mathrm{\&psi;}-y_{B_1}\cos \mathrm{\&psi;}\end{array}\right|=-\cos \mathrm{\&psi;}[z_{B_1}^2+{(x_{B_1}\sin \mathrm{\&psi;}-y_{B_1}\cos \mathrm{\&psi;})}^2]$

If

the first revolute pair A ₁axis and the 3rd revolute pair B ₁axis in same vertical plane.If

with

be zero simultaneously, the first revolute pair A ₁with the 3rd revolute pair B ₁overlap.The first revolute pair A in reality ₁with the 3rd revolute pair B ₁do not overlap, therefore

with

when different, be zero, 0 °<ψ<180 ° again, cos ψ ≠ 0, so condition (C ₃) be false, kinematic link A ₁b ₁end conswtraint

also can try to achieve according to (2) formula:

What therefore, steering swivel 2 was suffered is constrained to:

(6) formula substitution (2) formula can be obtained to the free motion that steering swivel 2 has is:

$ ₂＝(0 0 0 0 0 1) ^T (13)

As long as 0 °<ψ<180 °, (13) formula is set up, and obviously, when ψ=90 °, formula (13) is also set up.Formula (13) shows that steering swivel 2 has a free motion along the translation of z direction of principal axis, thereby the steering swivel of this independent suspension 2 can be done the motion of translation of single degree of freedom boning out.Therefore, this independent suspension can make the parameters such as camber angle, Kingpin inclination angle and casterangle, wheelspan and wheelbase of the wheel that links with steering swivel 2 remain constant in the wheel bounce process.So just the wearing and tearing of tire be can reduce to greatest extent, and then road-holding property, riding comfort and the travelling comfort of automobile improved.Simultaneously, owing to having adopted 3-RRR mechanism, make the suspension side chain prop up vertically all the time chain axis and move, so the suspension side chain can be equivalent to the RPR kinematic link, there is preferably each to rigidity.Below suspension side chain in the suspension side chain in spacing multi-connecting-rod linear guiding suspension fork mechanism provided by the present invention and patent [1] [2] is analyzed.

In spacing multi-connecting-rod linear guiding suspension fork mechanism provided by the present invention and patent [1] [2] the linear guiding motion characteristics of suspension fork mechanism by the vertical Plane intersects at suspension side chain place in same straight line or intersection line be parallel to each other determine, if the suspension side chain changes because stress deformation causes vertical plane, suspension side chain place, and then can cause wheel alignment parameter to change, so the suspension side chain must have the larger rigidity of structure.The RPR kinematic link mechanism principle of suspension side chain provided by the invention equivalence can be reduced to as shown in Fig. 9 (b), and in patent [1] [2], RRR suspension side chain mechanism principle can be reduced to as shown in Fig. 9 (a).RRR (or RPR) kinematic link one end o fixes (connecting with vehicle body or vehicle frame), other end o ₁(with steering swivel, connecting) is subject to power F effect; Wherein power F is vertical with the xoz plane; Point P is any point on the suspension side chain, and the corresponding P point coordinate of RRR kinematic link is (x _p0 z _p), the corresponding P point coordinate of RPR kinematic link is (x _p0 0); Other construction parameter as shown in Figure 9.Consideration under the effect of power F, the strained condition that in two kinematic links, P is ordered.For the ease of comparative analysis, stipulate that certain any strained condition adopts following expression-form:

T＝[F _x F _y F _z M _x M _y M _z] ^T (14)

F wherein _x, F _y, F _zmean respectively the axle along x, y axle, the power of z axle; M _x, M _y, M _zmean respectively the axle along x, y axle, the moment of z axle.Easily know Po according to geometric relationship ₁line and x axle clamp angle

for:

Po ₁the line distance is:

$d_{{\mathrm{Po}}_1}=\sqrt{{(d-x_P)}^2+z_P^2}---\left(16\right)$

The strained condition of RRR kinematic link mid point P is:

The strained condition of RPR kinematic link mid point P is:

T _RPR＝[0 F 0 0 0 F(d-x _P)] ^T (18)

Contrast (17) and formula (18) can find, under same stressing conditions, the RRR kinematic link is because axis does not overlap, and can produce additionally along the axial torque of x, and stressing conditions is more complicated.According to theoretical mechanics knowledge, referring to [4. plum Fengxiang etc. engineering mechanics [M]. Beijing: Higher Education Publishing House, 2003], can be in the hope of under power F effect, side chain distal point o ₁distortion.

Suppose that the RRR kinematic link is identical with the material of each bar of RPR kinematic link, and do not consider the factors such as revolute pair gap, the bending stiffness of establishing bar is EI, and torsional stiffness is GI _p.Next at first ask RRR kinematic link end o ₁distortion.

Make bar o ₁r is rigid rod, and bar oR is elastic rod, the lower kinematic link end o of computing power F effect ₁be deformed into:

${\mathrm{\&epsiv;}}_{{\mathrm{RRR}}_1}=\frac{{\mathrm{FL}}_1^3}{3\mathrm{EI}}+\frac{{\mathrm{FL}}_1^2{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">L</figure-callout>}}_2\cos ({\mathrm{\&phi;}}_1+{\mathrm{\&phi;}}_2)}{2\mathrm{EI}}+\frac{{\mathrm{<figure-callout\; id="2"\; label="FL"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">FL</figure-callout>}}_2^{3}s{\mathrm{in}}^2({\mathrm{\&phi;}}_1+{\mathrm{\&phi;}}_2)}{{\mathrm{GI}}_P}+d{\cos \mathrm{\&phi;}}_1(\frac{{\mathrm{FL}}_1^2}{2\mathrm{EI}}+\frac{{\mathrm{FL}}_1{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">L</figure-callout>}}_2\cos ({\mathrm{\&phi;}}_1+{\mathrm{\&phi;}}_2)}{\mathrm{EI}})---\left(19\right)$

Making bar oR is rigid rod, bar o ₁r is elastic rod, the lower kinematic link end o of computing power F effect ₁be deformed into:

${\mathrm{\&epsiv;}}_{{\mathrm{<figure-callout\; id="2"\; label="RRR"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">RRR</figure-callout>}}_2}=\frac{{\mathrm{<figure-callout\; id="2"\; label="FL"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">FL</figure-callout>}}_2^3}{3\mathrm{EI}}---\left(20\right)$

So RRR kinematic link end o ₁be deformed into:

${\mathrm{\&epsiv;}}_{\mathrm{RRR}}={\mathrm{\&epsiv;}}_{{\mathrm{RRR}}_1}+{\mathrm{\&epsiv;}}_{{\mathrm{RRR}}_2}---\left(21\right)$

In like manner, RPR kinematic link end o ₁be deformed into:

${\mathrm{\&epsiv;}}_{\mathrm{RRR}}=\frac{{\mathrm{Fd}}^3}{3\mathrm{EI}}---\left(22\right)$

Obvious d<L ₁+ L ₂, therefore have:

${\mathrm{\&epsiv;}}_{\mathrm{RPR}}=\frac{{\mathrm{Fd}}^3}{3\mathrm{EI}}<\frac{F{(L_1+L_2)}^3}{3\mathrm{EI}}=\frac{{\mathrm{FL}}_1^3}{3\mathrm{EI}}+\frac{{\mathrm{<figure-callout\; id="2"\; label="FL"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">FL</figure-callout>}}_2^3}{3\mathrm{EI}}+\frac{{\mathrm{FL}}_1^2{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">L</figure-callout>}}_2}{\mathrm{EI}}+\frac{{\mathrm{FL}}_1{\mathrm{<figure-callout\; id="2"\; label="L"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">L</figure-callout>}}_2^2}{\mathrm{EI}}<{\mathrm{\&epsiv;}}_{\mathrm{RRR}}---\left(23\right)$

Can try to achieve corresponding suspension Branch Stiffness.RRR kinematic link rigidity is:

$K_{\mathrm{RRR}}=\frac{F}{{\mathrm{\&epsiv;}}_{\mathrm{RRR}}}---\left(24\right)$

RPR kinematic link rigidity is:

$K_{\mathrm{RPR}}=\frac{F}{{\mathrm{\&epsiv;}}_{\mathrm{RPR}}}---\left(25\right)$

From formula (23), (24), (25):

K _RPR＞K _RRR (26)

Formula (26) shows that RPR kinematic link rigidity is larger than RRR kinematic link rigidity, and therefore under equal conditions, the rigidity of the spacing multi-connecting-rod linear guiding suspension fork mechanism that this patent provides is larger than the middle suspension fork mechanism rigidity of patent [1] [2].To sum up analyze and can find out, not only the stand under load situation is simpler for the spacing multi-connecting-rod linear guiding suspension fork mechanism that this patent provides, and integral rigidity is larger.

In the 3-RRR kinematic link, first connecting rod 8a and second connecting rod 8b size have determined suspension travel, and, obviously when first connecting rod 8a and second connecting rod 8b centerline collineation (θ=180 °) or while overlapping (θ=0 °), this mechanism is in dead point.In order further to illustrate the motion characteristics of this independent suspension, below in conjunction with 3-RRR mechanism mechanism principle figure, the suspension travel scope is analyzed.

The mechanism principle figure of upside article one suspension side chain 3a as shown in Figure 9, suspension side chain A ₁b ₁length is:

${\mathrm{<figure-callout\; id="3a"\; label="L"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">L</figure-callout>}}_{3a}=l_1+{2l}_1\sin \left(\frac{\mathrm{\&theta;}}{2}\right)+l_3---\left(27\right)$

As shown in figure 10, the chain end revolute pair axis when establishing suspension and being positioned at initial position is h to the distance of horizontal surface to the movement travel mechanism principle figure of suspension side chain ₀, the angle of corresponding first connecting rod 8a and second connecting rod 8b is θ ₀(not shown); When suspension is positioned at the design up stroke limit, a chain end revolute pair is h to the distance of horizontal surface ₁, the angle of corresponding first connecting rod 8a and second connecting rod 8b is θ ₁; When suspension is positioned at the design down stroke limit, a chain end revolute pair is h to the distance of horizontal surface ₂, the angle of first connecting rod 8a and second connecting rod 8b is θ ₂; Suspension side chain projector distance on horizontal surface is d.According to geometric relationship, can obtain:

Initial position

$h_0=\sqrt{{(l_1+{2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \left(\frac{{\mathrm{\&theta;}}_0}{2}\right)+l_3)}^2-d^2}---\left(28\right)$

Upper jumping end position

$h_1=\sqrt{{(l_1+{2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \left(\frac{{\mathrm{\&theta;}}_1}{2}\right)+l_3)}^2-d^2}---\left(29\right)$

Lower jumping end position

${\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">h</figure-callout>}}_2=\sqrt{{(l_1+{2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \left(\frac{{\mathrm{\&theta;}}_2}{2}\right)+l_3)}^2-d^2}---\left(30\right)$

Therefore, the journey of slipping a line on suspension is:

h _up＝h ₀+h ₁＜H _up (31)

Under the journey of slipping a line be:

h _down＝h ₂-h _o＜H _down (32)

If cantilever lever is long the most in short-term, corresponding angle is θ _lim, can obtain:

$d=l_1+{2\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="110729165923.png,110729165926.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin \left(\frac{{\mathrm{\&theta;}}_{\lim }}{2}\right)+l_3---\left(33\right)$

The angle of suspension kinematic link axis and horizontal direction is α:

$\mathrm{\&alpha;}=\arccos \left(\frac{d}{L_1}\right)---\left(34\right)$

Therefore, the many link linear guide independent suspensions with 3-RRR flexible compensation mechanism provided by the present invention can, according to actual suspension system designs requirement, carry out suspension travel and corresponding other design of Structural Parameters.This independent suspension, with respect to current other known suspension fork mechanisms, not only can guarantee that in the wheel bounce process, wheel alignment parameter does not change, and it is respectively large to rigidity, and structure design is simple, and version is flexible and changeable, and equipment adjustment is simple and convenient.Simultaneously, the present invention, except being used as the independent suspension of automobile, can also be applied to the alighting gear of aircraft, also can be used as guiding mechanism and is applied to any needs and does in the physical construction of boning out motion of translation.

Embodiment 2: described suspension fork mechanism increases a side chain on the basis of embodiment 1, and the vertical plane at the suspension side chain place added overlaps with the vertical plane intersection line at other suspension side chain places or is parallel, increased the strength and stiffness of mechanism, all the other structures are identical with embodiment 1.

Embodiment 3: described suspension fork mechanism increases by two side chains on the basis of embodiment 1, and the vertical plane at the suspension side chain place added overlaps with the vertical plane intersection line at other suspension side chain places or is parallel, increased the strength and stiffness of mechanism, all the other structures are identical with embodiment 1.

Embodiment 4: described 3-RRR mechanism has four kinematic links, and every RRR kinematic link to prop up chain axis along suspension symmetrical, further increased the strength and stiffness of mechanism, all the other structures are identical with embodiment 1.

Embodiment 5: described 3-RRR mechanism has six kinematic links, and every RRR kinematic link to prop up chain axis along suspension symmetrical, further increased the strength and stiffness of mechanism, all the other structures are identical with embodiment 1.

In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.

Claims (5)

1. many link linear guide independent suspensions with 3-RRR flexible compensation mechanism, comprise wheel (1), vehicle body or vehicle frame (6), spring damper system (4) and steering swivel (2), described steering swivel (2) connects with wheel (1) by hub, spring damper system (4) connects with steering swivel (2) and vehicle body or vehicle frame (6) respectively by the bulb pair, it is characterized in that: also comprise four suspension side chains, it is respectively upside article one suspension side chain (3a), upside second suspension side chain (3b), downside article one suspension side chain (5a), downside second suspension side chain (5b), described suspension side chain includes inboard connecting rod (7), outside connecting rod (9) and three identical RRR kinematic links that consist of three revolute pairs, is called for short 3-RRR mechanism, and three identical RRR kinematic links along suspension prop up chain axis be 120 ° symmetrical, described RRR kinematic link comprises first connecting rod (8a) and second connecting rod (8b), first connecting rod (8a) connects by the first kinematic link revolute pair (E) with inboard connecting rod (7), first connecting rod (8a) connects by the second kinematic link revolute pair (F) with second connecting rod (8b), and second connecting rod (8b) connects by the 3rd kinematic link revolute pair (G) with outside connecting rod (9), described upside article one suspension side chain (3a) and upside second suspension side chain (3b) are respectively by the first revolute pair (A ₁) and the second revolute pair (A ₂) with vehicle body or vehicle frame (6), connect, and respectively by the 3rd revolute pair (B ₁) and the 4th revolute pair (B ₂) with steering swivel (2), connect, described downside article one suspension side chain (5a) and downside second suspension side chain (5b) are respectively by the 5th revolute pair (C ₁) and the 6th revolute pair (C ₂) with vehicle body or vehicle frame (6), connect, and respectively by the 7th revolute pair (D ₁) and the 8th revolute pair (D ₂) with steering swivel (2), connect, the first revolute pair (A in described upside suspension side chain ₁) and the 3rd revolute pair (B ₁) axis all perpendicular to the vertical plane at the line place between the first and the 3rd revolute pair, the second revolute pair (A ₂) and the 4th revolute pair (B ₂) axis all perpendicular to the vertical plane at the line place between the second and the 4th revolute pair, the 5th revolute pair (C in described downside suspension side chain ₁) and the 7th revolute pair (D ₁) axis all perpendicular to the vertical plane at the line place between the 5th and the 7th revolute pair, the 6th revolute pair (C ₂) and the 8th revolute pair (D ₂) axis all perpendicular to the vertical plane at the line place between the 6th and the 8th revolute pair, the intersection on two determined two vertical planes of suspension side chain of the intersection on two determined two vertical planes of suspension side chain of described upside and downside overlaps or is parallel, described upside article one suspension side chain (3a) and upside second suspension side chain (3b) be about crossing above-mentioned intersection and being parallel to the vertical plane symmetry of wheel (1) axis, and described downside article one suspension side chain (5a) and downside second suspension side chain (5b) are about the above-mentioned intersection of mistake and be parallel to the vertical plane symmetry of wheel (1) axis.

2. many link linear guide independent suspensions with 3-RRR flexible compensation mechanism according to claim 1 is characterized in that: described 3-RRR mechanism increases one or more of RRR kinematic links, and every RRR kinematic link to prop up chain axis along suspension symmetrical.

3. according to claim 1 with many link linear guide independent suspensions of 3-RRR flexible compensation mechanism, it is characterized in that: described 3-RRR mechanism and the first kinematic link revolute pair (E) and the 3rd kinematic link revolute pair (G) form 3-RRR parts as a whole, and these 3-RRR parts are bolted or weld with inboard connecting rod (7) and outside connecting rod (9) and connect.

4. according to claim 1 with many link linear guide independent suspensions of 3-RRR flexible compensation mechanism, it is characterized in that: described suspension increases one or more suspension side chains, and the vertical plane at the suspension side chain place added overlaps with the vertical plane intersection line at other suspension side chain places or be parallel.

5. according to claim 1 with many link linear guide independent suspensions of 3-RRR flexible compensation mechanism, it is characterized in that: the angle on the vertical plane at the angle on the vertical plane at the vertical plane at described upside article one suspension side chain (3a) place and upside second suspension side chain (3b) place and the vertical plane at downside article one suspension side chain (5a) place and downside article one suspension side chain (5b) place is unequal; The distance of described upside article one suspension side chain (3a) or upside second suspension side chain (3b) projection on horizontal surface is unequal with downside article one suspension side chain (5a) or downside second suspension side chain (5b) distance of projection on horizontal surface.

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