Well come to our presentation

on:
Design of bicycle rear
suspension system
 Contents to be covered
Objective of the project
Vibration
Effect of vibration on human
Bicycle suspension system
 benefits of bicycle suspension
Physical modeling
Mathematical modeling
Design of rear suspension
Conclusion and recommendation
 Objective
To design the rear suspension system of a
bicycle which is favorable for Mekelle road
profile
 vibration
• is the study of the repetitive motion of
objects relative to a stationary frame of
reference.
• It can be categorized as:
Forced and free
Damped and undamped
 Effect of vibration on human
Depending on exposure, it can be classified
as:
segmental vibration or hand-arm vibration
exposure
whole body vibration exposure
To eliminate these, a suspension system is
designed to a vibrating body.
 Bicycle suspension system
• Refers to the system or system used to
suspend the rider and all or part of the
bicycle in order to protect them from the
roughness of the ground over which they
travel.
• Can be implemented in a variety of ways
such as:
Suspension front fork
Suspension steam
Suspension seat post
Rear suspension
Bicycle with suspension front forks and rear
suspension are referred as:
full suspension bikes
 Benefit of bicycle suspension
helps maintain better control in severe off-
road riding.
wheels are much less likely to be
damaged when hitting sharp edges in the
road.
improve both safety and efficiency.
Improve riders comfort.
 Physical modeling
Assumptions made
The system is represented by a mechanical
system with two rigid bodies linked together
by revolute joints and springs.
 Cont..
 The tire is inflated enough and there is
only one point on a wheel in contact with
the ground.

 The only vibration excitation to system

comes from the unevenness road
surface and the pedaling force of the
rider.
 Mathematical modeling
 Parameters needed to find general equation of motion are:
 Kinetic energy
 Potential energy
 dissipation

 the kinetic energy of a system is given as:

1 1 1 1 1
T  M a Z a  J a r  M b Z b  J b f  M c Z c2
2 2 2 2

2 2 2 2 2

 potential energy and dissipation is given as:

I. Top tube with seat post:

 The stiffness and damping values of the saddle and the cantilever model are
added together since they are connected in series. Therefore the total
potential energy and 1kinetic
 energy are: 
2
PE  Keq  Zc  Z  l  
2  b 3 f
2
D= 1 Ceq Zc -Z -l θ
 
 
2 
 b 3 f 

II. The front wheel :

2
D  1 c  Z  l   H
 

2 2 b 3 f f 


2
PE  1 k Z  l   H
 
 
2 2 b 3 f

 f 

iv. Rear wheel :

1
PE  k3  Z a  l1 r  H r 
2

2
1
 
2
D  c3 Za  l1r  H r
2
v. The rear suspension:

(1) for rear wheel bump (2) For front wheel bump

The resultant of the rear and the front values is:

   
2
1 2
l5  l4    a  b   f
2 2
PE  K 4 l  b r
2
4
2

   
2
1 2
l  b r l5  l4    a  b   f
2 2
D  C4 2
4
2

2
external forces:

 Pedaling force and

 Ground force

The moment created by the Fchain is:

Fchain(Za-rcog-rw)
 Generation of matrix

 Using the Lagrange’s equation, the generalized matrix of the system is generated.

d T  T  V  Qi
 
 
 
dt qi qi qi qi
 
 

qi
 : is the generalized coordinate of the system
Q
 : Dissipated (damping) forces and other external forces that are not derivable from a
i

potential function.
V
 = potential energy
 T = Kinetic energy
 D = dissipation
Then equation of motion can be written in the form:

M  Z C  Z   K  Z   F 
 With mass matrix [M]: 

Ma 0 0 0 0 

 
 0 M 0 0 0 
 b 
 


0 0 Mc 0 0 

 
 0 0 0 J 0 
 f 
 
 


0 0 0 0 Jr 


 Stiffness matrix [K]:

 k 0 0 0 k l 


3 31 

 
 0 
 k kc k 2  k kc l 
 k kc k l 0 


 1   1 3  1  23 

 

0  k kc  
 k kc   k kc l 0 
  1   1   1 3 
 
 
   
2 2
 a b 
  
 0 0 0 K 

 l5 l 
  0 
 4 
 4 
 
   
 
 
 
l 2 b2

 0 0 0 0 K  


4 

4 

 Damper matrix [D]:
 c3 0 0 0 c3l1 
 
 0   c1  cc  c1  cc    c1  cc  l3 0 
 0   c1  cc  c1  cc    c1  cc  l3 0 
 
 0 l5  l4    a  b  
2 2
0 0 c4 0
 
 0
 And force matrix
 [F]:
0 0 0 c4  
l42  b 2 


72.7  272 H r  8 *103 

 
 272 H f  8 *10 3

 0 
 
 0 
 0 
 
 Coordinates:

 Za   Z a   Za 
      
  Zb    Zb   Zb 
Z   Zc  Z 
 Z c  Z  Zc 
      
 f   f   f 
       
 r  r  r
1. Design of rear suspension

With the given specification:

Road profile:
 2 s 
y t   y0 sin  
 L 
 Where, y0 = 20 cm
 L = 0.1m
 Ma = 5 kg
 Mb = 6 kg
 K1 = 48650 N/m
 C1 = 1000 Ns/m
 K2 = K3 =134000 N/m
 C2 = C3 = 271 N/m
 Rw = 0.33 m
 Jr = Jf = 0.2 kg m2
 Subsisting the above values, we can find mass, stiffness, damping and force
matrix.
5 0 0 0 
0
 
0 6 0 0
0 
 the mass matrix [M] will be: 0 0 70 0 0 
 
0 0 0 0.2 0 
0 0 0 0 0.2 


 272 0 0 0 0 
 0 372.05 272 5.86*10 2 0 

 0 1000 1000 460 0 
 The damping matrix [C] : 
 0 0 0 0.26c4 0 

 0 0 0 0 0.19c4 

134000 0 0 0 4.82*104 
 
 0 179699.62 179699.62 6.2*104 0 
 0 179699.62 179699.62 2.24*104 0 
 
 The stiffness matrix [K]:  0
 0

0
0
0
0
0.26k4
0
0 
0.19k4 

 1076.7 
 25850.45
 
 0 
 The force matrix [F]: 
0

 
 0 
 Before we proceed to the calculation, from the graph below, we should have to set
the appropriate natural frequency that is given as a function of transmissibility
( acceleration) so that the appropriate zone is between 7 and 13 Hz.

 Let wn = 8Hz (50.265rad/s)

 Then,
the transmissibility = 0.3
 So the value of stiffness and damping will be:

 K4 = 2659.59 N/m
 C4 = 121.4 Ns/m

 For light damping, the maximum amplitude of vibration occurs at around the natural
frequency. Therefore, the critical speed found from:

2 v
  n
L


1
n
 So the amplitude of vibration at is approximately

y0
x0 
2

= 20.41cm
The response of the system using Matlab
can be shown as:
 Conclusion and recommendation

 In designing this suspension system, the transmitted

displacement to the body should be in accordance with
predefined comfort zone of human natural frequency.
 2 s 
 For the given road profile, y  t   20sin 
 L 

 

suspension system with K4 = 2659.59 N/m ,C4 = 121.4

Ns/m is better to install to reduce the amplitude.
 The maximum amplitude of vibration occurs at around the
natural frequency, which makes the vibration worse.
Thank you