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The torsion or trailing arm car suspension system (Figure 11-15) first appeared in the early 1930s and was used for more than 25 years on the
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Figure 11-15 Torsion swing arm
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VW Beetle. It is similar in complexity to the sideways leaf spring shown in the next section, but is somewhat more difficult to understand because it uses the less common property of twisting a rod to produce a spring. The mechanism consists of a simple bar with trailing links at each end. The center of the beam is attached to the chassis, and each end of the trailing links supports the bumper. If the beam is properly sized and sufficiently flexible, it can act as both support and spring with proper passive suspension points.
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Another suspension system, used since the days of horse drawn buggies, that can be applied to robot bumper suspensions is a leaf spring turned on it side. This design has great simplicity and reliability. In a car, the leaf spring performs the task of springs, but it also holds the axles in place, with very few moving parts. The usual layout on a car has one end attached to the frame through a simple pivot joint and the other end attached through either a pivoting link, or a robust slot to allow for that end to move back and forth in addition to rotating. The center of the spring is attached to the axle, allowing it to move up and down but not in any other direction. Two springs are required to hold the axle horizontal.
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Figure 11-16 Horizontal oose footed leaf spring
The leaf spring can also be used to suspend a robot s bumper quite effectively by turning the spring on its side and attaching the center to the chassis and each end to points on the bumper. One end, or both, still needs to be attached through a slot or pivoting link, but the result is still very simple and robust. This layout can be used on larger robots also, since the leaf spring is an efficient suspension element even in larger sizes. For robots that must detect bumps from the rear, it may be possible to use a single spring to support an entire wrap around bumper. If this would produce a cumbersum or overly large spring, the sideways-leaf spring layout can be enhanced by adding a second spring to further support the rear of a one-piece wrap around bumper. Figure 11-16 shows a single slot sideways leaf spring layout.
Sliding Front Pivot
Designing a bumper suspension system based on the fact that the bumper needs primarily to absorb and detect bumps from the front produces a system which moves easily and farthest in the fore-and-aft directions, but pivots around some point in the front to allow the sides to move some. The system could be called a sliding front-pivot bumper suspension system (Figure 11-17). Sliding joints are more difficult to engineer than pivoting or rotating joints, but this concept does allow large motions
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Figure 11-17 Sliding front pivot
in the most important direction. Springing it back to its relaxed position can be tricky.
Suspension Devices to Detect Motions in All Three Planes
The V-groove device can be applied to 3D layouts as well, simply by making the V-block angled on top and bottom, like a sideways pyramid. A mechanical limit switch can be placed so that any motion of the Vblock out of its default position trips the switch. For even more sensitivity, the V-block can be made of rollers or have small wheels on its mating surfaces to reduce friction. The simplest suspension system that allows motion in three directions relies on flexible rubber arms or compliant mounts to hold the bumper loosely in place. These flexible members can be replaced with springs and linkages, but the geometries required for 3D motion using mechanical linkages can be complex. Figure 11-18 shows a layout for an elastomer or spring-based system. A well-sprung bumper or bumper/shell
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