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| Preface | |
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| Introduction and History | |
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| Introduction | |
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| Early Steering History | |
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| Leaf-Spring Axles | |
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| Transverse Leaf Springs | |
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| Early Independent Fronts | |
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| Independent Front Suspension | |
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| Driven Rigid Axles | |
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| De Dion Rigid Axles | |
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| Undriven Rigid Axles | |
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| Independent Rear Driven | |
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| Independent Rear Undriven | |
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| Trailing-Twist Axles | |
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| Some Unusual Suspensions | |
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| References | |
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| Road Geometry | |
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| Introduction | |
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| The Road | |
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| Road Curvatures | |
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| Pitch Gradient and Curvature | |
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| Road Bank Angle | |
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| Combined Gradient and Banking | |
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| Path Analysis | |
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| Particle-Vehicle Analysis | |
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| Two-Axle-Vehicle Analysis | |
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| Road Cross-Sectional Shape | |
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| Road Torsion | |
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| Logger Data Analysis | |
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| Reference | |
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| Road Profiles | |
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| Introduction | |
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| Isolated Ramps | |
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| Isolated Bumps | |
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| Sinusoidal Single Paths | |
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| Sinusoidal Roads | |
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| Fixed Waveform | |
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| Fourier Analysis | |
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| Road Wavelengths | |
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| Stochastic Roads | |
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| References | |
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| Ride Geometry | |
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| Introduction | |
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| Wheel and Tyre Geometry | |
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| Suspension Bump | |
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| Ride Positions | |
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| Pitch | |
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| Roll | |
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| Ride Height | |
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| Time-Domain Ride Analysis | |
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| Frequency-Domain Ride Analysis | |
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| Workspace | |
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| Vehicle Steering | |
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| Introduction | |
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| Turning Geometry - Single Track | |
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| Ackermann Factor | |
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| Turning Geometry - Large Vehicles | |
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| Steering Ratio | |
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| Steering Systems | |
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| Wheel Spin Axis | |
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| Wheel Bottom Point | |
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| Wheel Steering Axis | |
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| Caster Angle | |
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| Camber Angle | |
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| Kingpin Angle Analysis | |
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| Kingpin Axis Steered | |
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| Steer Jacking | |
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| References | |
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| Bump and Roll Steer | |
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| Introduction | |
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| Wheel Bump Steer | |
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| Axle Steer Angles | |
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| Roll Steer and Understeer | |
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| Axle Linear Bump and Roll Steer | |
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| Axle Non-Linear Bump and Roll Steer | |
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| Axle Double-Bump Steer | |
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| Vehicle Roll Steer | |
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| Vehicle Heave Steer | |
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| Vehicle Pitch Steer | |
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| Static Toe-In and Toe-Out | |
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| Rigid Axles with Link Location | |
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| Rigid Axles with Leaf Springs | |
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| Rigid Axles with Steering | |
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| Reference | |
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| Camber and Scrub | |
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| Introduction | |
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| Wheel Inclination and Camber | |
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| Axle Inclination and Camber | |
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| Linear Bump and Roll | |
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| Non-Linear Bump and Roll | |
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| The Swing Arm | |
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| Bump Camber Coefficients | |
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| Roll Camber Coefficients | |
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| Bump Scrub | |
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| Double-Bump Scrub | |
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| Roll Scrub | |
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| Rigid Axles | |
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| Reference | |
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| Roll Centres | |
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| Introduction | |
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| The Swing Arm | |
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| The Kinematic Roll Centre | |
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| The Force Roll Centre | |
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| The Geometric Roll centre | |
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| Symmetrical Double Bump | |
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| Linear Single Bump | |
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| Asymmetrical Double Bump | |
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| Roll of a Symmetrical Vehicle | |
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| Linear Symmetrical Vehicle Summary | |
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| Roll of an Asymmetrical Vehicle | |
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| Road Coordinates | |
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| GRC and Latac | |
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| Experimental Roll Centres | |
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| References | |
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| Compliance Steer | |
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| Introduction | |
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| Wheel Forces and Moments | |
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| Compliance Angles | |
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| Independent Suspension Compliance | |
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| Discussion of Matrix | |
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| Independent-Suspension Summary | |
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| Hub Centre Forces | |
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| Steering | |
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| Rigid Axles | |
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| Experimental Measurements | |
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| Reference | |
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| Pitch Geometry | |
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| Introduction | |
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| Acceleration and Braking | |
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| Anti-Dive | |
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| Anti-Rise | |
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| Anti-Lift | |
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| Anti-Squat | |
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| Design Implications | |
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| Single Arm Suspensions | |
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| Introduction | |
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| Pivot Axis Geometry | |
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| Wheel Axis Geometry | |
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| The Trailing Arm | |
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| The Sloped-Axis Trailing Arm | |
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| The Semi-Trailing Arm | |
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| The Low-Pivot Semi-Trailing Arm | |
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| The Transverse Arm | |
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| The Sloped-Axis Transverse Arm | |
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| The Semi-Transverse Arm | |
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| The Low-Pivot Semi-Transverse Arm | |
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| General Case Numerical Solution | |
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| Comparison of Solutions | |
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| The Steered Single Arm | |
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| Bump Scrub | |
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| Reference | |
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| Double Arm Suspensions | |
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| Introduction | |
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| Configurations | |
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| Arm Lengths and Angles | |
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| Equal Arm Length | |
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| Equally-Angled Arms | |
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| Converging Arms | |
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| Arm Length Difference | |
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| General Solution | |
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| Design Process | |
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| Numerical Solution in Two Dimensions | |
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| Pitch | |
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| Numerical Solution in Three Dimensions | |
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| Steering | |
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| Strut Analysis in Two Dimensions | |
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| Strut Numerical Solution in Two Dimensions | |
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| Strut Design Process | |
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| Strut Numerical Solution in Three Dimensions | |
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| Double Trailing Arms | |
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| Five-Link Suspension | |
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| Rigid Axles | |
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| Introduction | |
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| Example Configuration | |
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| Axle Variables | |
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| Pivot-Point Analysis | |
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| Link Analysis | |
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| Equivalent Links | |
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| Numerical Solution | |
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| The Sensitivity Matrix | |
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| Results: Axle | |
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| Results: Axle | |
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| Coefficients | |
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| Installation Ratios | |
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| Introduction | |
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| Motion Ratio | |
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| Displacement Method | |
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| Velocity Diagrams | |
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| Computer Evaluation | |
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| Mechanical Displacement | |
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| The Rocker | |
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| The Rigid Arm | |
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| Double Wishbones | |
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| Struts | |
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| Pushrods and Pullrods | |
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| Solid Axles | |
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| The Effect of Motion Ratio on Inertia | |
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| The Effect of Motion Ratio on Springs | |
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| The Effect of Motion Ratio on Dampers | |
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| Velocity Diagrams in Three Dimensions | |
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| Acceleration Diagrams | |
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| References | |
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| Computational Geometry in Three Dimensions | |
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| Introduction | |
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| Coordinate Systems | |
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| Transformation of Coordinates | |
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| Direction Numbers and Cosines | |
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| Vector Dot Product | |
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| Vector Cross Product | |
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| The Sine Rule | |
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| The Cosine Rule | |
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| Points | |
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| Lines | |
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| Planes | |
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| Spheres | |
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| Circles | |
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| Routine PointFPL2P | |
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| Routine PointFPLPDC | |
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| Routine PointITinit | |
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| Routine PointIT | |
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| Routine PointFPT | |
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| Routine Plane3P | |
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| Routine PointFP | |
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| Routine PointFPPl3P | |
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| Routine PointATinit | |
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| Routine PointAT | |
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| Routine Points3S | |
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| Routine Points2SHP | |
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| Routine Point3Pl | |
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| Routine PointLP | |
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| Routine Point3SV | |
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| Routine PointITV | |
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| Routine PointATV | |
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| Rotations | |
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| Programming Considerations | |
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| Introduction | |
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| The RASER Value | |
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| Failure Modes Analysis | |
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| Reliability | |
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| Bad Conditioning | |
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| Data Sensitivity | |
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| Accuracy | |
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| Speed | |
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| Ease of Use | |
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| The Assembly Problem | |
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| Checksums | |
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| Iteration | |
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| Introduction | |
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| Three Phases of Iteration | |
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| Convergence | |
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| Binary Search | |
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| Linear Iterations | |
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| Iterative Exits | |
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| Fixed-Point Iteration | |
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| Accelerated Convergence | |
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| Higher Orders without Derivatives | |
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| Newton's Iterations | |
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| Other Derivative Methods | |
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| Polynomial Roots | |
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| Testing | |
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| References | |
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| Nomenclature | |
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| Units | |
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| Greek Alphabet | |
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| Quaternions for Engineers | |
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| Frenet, Serret and Darboux | |
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| The Fast Fourier Transform | |
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| Index | |