Dynamic performances of the vehicle are significantly influenced by the suspension mechanisms. An understanding of the effects of the suspension kinematics and statics (or, briefly, kinestatics) is crucial to improve the dynamic performances of a vehicle. However, the suspension kinestatics is often neglected in the dynamic analysis. This paper presents a generalized full-vehicle model for the three-dimensional dynamic analysis, which consists of two pairs of the front and rear spatial suspension mechanisms. Each suspension is represented by a corresponding instantaneous screw joint supporting the vehicle body at any instant. The full-vehicle model is viewed to be a 6-degree-of-freedom spatial parallel mechanism. As the spatial parallel mechanism, the kinematics and statics of the full-vehicle model are analysed using the theory of screws. Taking the suspension kinestatics and tyre dynamics into consideration, the dynamic equations of the full-vehicle model are formulated in terms of the Lagrangian equations. As immediate applications, the dynamic behaviours of a vehicle are simulated and evaluated under two different road disturbances, respectively. By comparing with the simulation results from two other widely used methods, it confirms the validity of the theoretical method.

中文翻译：

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一种整车模型三维动力学分析的通用方法

车辆的动态性能受悬架机构的影响很大。了解悬架运动学和静力学（或简称为动静力学）的影响对于提高车辆的动态性能至关重要。然而，在动力学分析中往往忽略悬架动静力学。本文提出了一种用于三维动力学分析的广义整车模型，该模型由两对前后空间悬架机构组成。每个悬架由一个相应的瞬时螺纹接头表示，在任何时刻支撑车身。整车模型被视为一个 6 自由度的空间并联机构。作为空间并联机构，利用螺杆理论分析了整车模型的运动学和静力学。综合考虑悬架动力学和轮胎动力学，采用拉格朗日方程建立整车模型的动力学方程。作为直接应用，分别在两种不同的道路干扰下模拟和评估车辆的动态行为。通过与其他两种广泛使用的方法的模拟结果进行比较，证实了理论方法的有效性。