Research on Simplified Dynamics Model of Articulated Suspension Vehicle

The articulated suspension vehicle, with its characteristics of high maneuverability, high passability and high stability, combines the advantages of leg motion and wheel motion. This paper aims to solve the complexity of centroid dynamics model of the articulated suspension vehicle. Firstly, according to the force equivalent simplification principle, the centroid dynamics model of the articulated suspension vehicle is simplified to a linear inverted pendulum inertial flywheel model. Then, the motion characteristics of the simplified model are analyzed and verified by simulation using the phase plane method. Finally, the conclusion can be obtained: when the initial state of the system is outside the constraint boundary, the maximum attitude adjustment moment cannot adjust the system motion back to the stable state origin.