Method and apparatus for a low-profile suspension system
A method and apparatus for a low-profile suspension system, which provides coarse and fine suspension control to an object supported by the low-profile suspension system. Coarse suspension is provided to adaptively control a position of the object through pneumatic support devices. Pneumatic pressure is adaptively increased in the pneumatic support devices to support an increasing weight of the object, while pneumatic pressure is adaptively decreased in the pneumatic support devices to support a decreasing weight of the object. Fine suspension control is provided through rotational actuation of a shock absorbing device through a right-angle gear drive. By rotationally actuating the shock absorbing device, a range of stroke of the shock absorbing device along a vertical direction is minimized. Position equalization control is further provided to maintain a position of the object along an axis that is orthogonal to the coarse and fine suspension axis.
1. A method of providing suspension, comprising:
adaptively maintaining a position of an object between a minimum and a maximum distance in a first direction;
rotationally actuating a shock absorbing device to dampen movement of the object between the minimum and the maximum distance, wherein a direction of a range of stroke of the shock absorbing device is angled with respect to the first direction, and wherein rotationally actuating the shock absorbing device includes,
detecting movement of the object;
adaptively programming a damper resistance of the shock absorbing device in response to the detected movement;
rotating a right-angle gear drive in a second direction in response to an upward movement of the object;
rotating the right-angle gear drive in a third direction in response to a downward movement of the object;
moving a piston of the shock absorbing device in response to the rotational movement of the right-angle gear drive; and
adaptively dampening movement of the piston in response to the adaptively programmed damper resistance; and
pneumatically maintaining a position of the object along an axis orthogonal to the first direction.
2. The method of claim 1 , wherein adaptively maintaining a position of the object comprises detecting a position of the object between the minimum and maximum distance.
3. The method of claim 2 , wherein adaptively maintaining a position of the object further comprises raising the position of the object in response to detecting that the object is below an equilibrium position.
4. The method of claim 3 , wherein adaptively maintaining a position of the object further comprises lowering the position of the object in response to detecting that the object is above the equilibrium position.
5. The method of claim 1 , wherein pneumatically maintaining a position of the object comprises:
coupling a first air piston to a first end of the object;
coupling a second air piston to a second end of the object;
filling a pair of air reservoirs to a nominal air pressure;
applying the nominal air pressure from each air reservoir to respective first and second air pistons to establish an equilibrium length of the air pistons; and
absorbing variations in the equilibrium length of the first and second air pistons, wherein a contraction of the length of the first and second air pistons expands elastic walls of the respective air reservoirs and an expansion of the length of the first and second air pistons contracts the elastic walls of the respective air reservoirs.
6. A low-profile shock absorbing device, comprising:
a right-angle gear drive having a first member capable of being coupled to an object and a second member rotationally actuated by movement of the first member along a vertical axis;
a shock absorbing device having a piston coupled to the second member of the right-angle gear drive, wherein a direction of a range of stroke of the piston is angled with respect to the vertical axis; and
a position equalization device including,
a plurality of air pistons coupled to the object, wherein a length of each of the plurality of air pistons determines the equilibrium position of the object along an axis orthogonal to the vertical axis; and
a plurality of air reservoirs coupled to the plurality of air pistons, wherein the length of each of the plurality of air pistons is adjusted in response to air pressure within each respective air reservoir and deviations in the length of each of the plurality of air pistons is substantially absorbed by elastic movement of each respective air reservoir.
7. The low-profile shock absorbing device of claim 6 , wherein the shock absorbing device comprises:
a conductive element encapsulating the shock absorbing device;
a pulse width modulator coupled to the conductive element and adapted to provide a pulse width modulated signal to the conductive element, the conductive element being adapted to produce a variable magnitude magnetic field in response to the pulse width modulated signal; and
an accelerometer coupled to the pulse width modulator and adapted to provide a dynamic control signal to the pulse width modulator in response to detected movement of the object, the pulse width modulator being adapted to adjust a duty cycle of the pulse width modulated signal in response to the dynamic control signal.
8. The low-profile shock absorbing device of claim 6 , wherein the shock absorbing device comprises:
a conductive element encapsulating the shock absorbing device;
a pulse width modulator coupled to the conductive element and adapted to provide a pulse width modulated signal to the conductive element, the conductive element being adapted to produce a variable magnitude magnetic field in response to the pulse width modulated signal; and
a potentiometer coupled to the pulse width modulator and adapted to provide a statically programmed control signal to the pulse width modulator, the pulse width modulator being adapted to adjust a duty cycle of the pulse width modulated signal in response to the statically programmed control signal.
9. A method of providing suspension, comprising:
adaptively maintaining a position of an object between a minimum and a maximum distance in a first direction;
rotationally actuating a shock absorbing device to dampen movement of the object between the minimum and the maximum distance, wherein a direction of a range of stroke of the shock absorbing device is angled with respect to the first direction, and wherein rotationally actuating the shock absorbing device includes,
statically programming a damper resistance of the shock absorbing device;
rotating a right-angle gear drive in a second direction in response to an upward movement of the object;
rotating the right-angle gear drive in a third direction in response to a downward movement of the object;
moving a piston of the shock absorbing device in response to the rotational movement of the right-angle gear drive; and
dampening movement of the piston in response to the statically programmed damper resistance; and
pneumatically maintaining a position of the object along an axis orthogonal to the first direction.
10. The method of claim 9 , wherein adaptively maintaining a position of the object comprises detecting a position of the object between the minimum and maximum distance.
11. The method of claim 10 , wherein adaptively maintaining a position of the object further comprises raising the position of the object in response to detecting that the object is below an equilibrium position.
12. The method of claim 11 , wherein adaptively maintaining a position of the object further comprises lowering the position of the object in response to detecting that the object is above the equilibrium position.
13. The method of claim 9 , wherein pneumatically maintaining a position of the object comprises:
coupling a first air piston to a first end of the object;
coupling a second air piston to a second end of the object;
filling a pair of air reservoirs to a nominal air pressure;
applying the nominal air pressure from each air reservoir to respective first and second air pistons to establish an equilibrium length of the air pistons; and
absorbing variations in the equilibrium length of the first and second air pistons, wherein a contraction of the length of the first and second air pistons expands elastic walls of the respective air reservoirs and an expansion of the length of the first and second air pistons contracts the elastic walls of the respective air reservoirs.