Kinematic analysis of a two-degree-of-freedom steering mechanism used in rigid-axle vehicles

Abstract

The paper presents a kinematic analysis of a two-degree-of-freedom (2-DOF) steering mechanism based on the Ackermann principle and of a type found in rigid-axle vehicles. Using an iterative approach to solve the equations of constraint, major features of the mechanism are investigated, e.g. sensitivity to geometry changes, steering errors induced by axle displacement, motion and force transmission functions. This approach enables the performance and characteristics of the proposed mechanism to be assessed easily and quickly, and a case study is given of a light agricultural tractor.

Synthesis and analysis of the steering system of an adjustable tread-width four-wheel tractor

“…For this purpose, an AutoLISP application was developed which automatically generates 3D primitives (cylinders, spheres, cones, toruses) and inserts AutoCAD blocks of any complexity in positions and at orientations read from a data file. This data file was output from an in-house kinematic analysis program also used in [11]. Representations like Fig.…”

“…Steering control asymmetry can be evaluated using a non-dimensional coefficient K [11] K ¼ ju 1 ðu 2 max ; wÞ=u 1 ðu 2 min ; wÞj; ð21Þ…”

“…Coefficient K (which ideally should be equal to one), can be used to quickly approximate the difference between the angles of the steering wheel, when fully turned to the left and to the right, measured from the straight-ahead position [11] D SW ¼ Q Á ðju 1 ðu 2 max ; wÞj À ju 1 ðu 2 min ; wÞjÞ ffi Q Á Du 1 max 2…”

“…The steering control linkage has been also investigated [1,8,10,11], although simplifying assumptions were usually made, like the kingpin and the pitman arm having nonintersecting, perpendicular axis (i.e. the caster and kingpin inclination angles are assumed zero).…”

Analysis and Optimization of the Double-Axle Steering Mechanism with Dynamic Loads

“…Hanzaki et al, [10] presented the sensitivity analysis of rack-and-pinion steering linkage to predict how the steering error is affected by manufacturing tolerances, assembly errors, and clearances resulting from wear. Simionescu et al, [11] developed a kinematic model of an RRSRR-type steering mechanism suitable for rigid-axle vehicles, on the basis of which the major features of the mechanism is investigated, e.g. sensitivity to geometry changes, steering errors induced by axle displacement, motion and for force transmission functions.…”