Documente Academic
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Documente Cultură
ISSN: 2278-0181
Vol. 2 Issue 10, October - 2013
Front
Ackermann principle to ensure pure rolling and to Steering arm
minimize the skidding and thus wear of the tires.
ls ls
l r
lt l rp lt
Tie r
Front
o d
o d Tie r
Rack and pinion
r
𝑙 𝑤 −𝑙 𝑟𝑝
𝑟= 2
(1)
which is equivalent to
l
r
𝑅
sin 𝛿𝑟 cos 𝛾𝑟 + cos 𝛿𝑟 sin 𝛾𝑟 = − , (16)
Front
𝑃 2 +𝑄 2
wheel ls
Front axle
where 𝛿𝑟 = tan−1 (𝑃/𝑄).
l r
Eq. (16) is equivalent to
ls lt l rp lt
r 𝑅
l sin(𝛿𝑟 + 𝛾𝑟 ) = − , (17)
Rack axis 𝑃 2 +𝑄 2
r
u
Fig. 4 Steering system having rack displacement from which it follows that
𝑅
From Fig. 4, the following geometric equations 𝛾𝑟 = − sin−1 − 𝛿𝑟 . (18)
𝑃 2 +𝑄 2
are obtained for the right wheel:
Likewise, for the left steering angle, 𝛾𝑙 can be
𝜋
𝜃𝑟 = − 𝛾𝑟 − 𝛼, (3) obtained as
2
𝑅𝑙
𝑙𝑠 cos 𝛾𝑟 + 𝑙𝑡 cos ∅𝑟 = 𝑟 + 𝑢, (4) 𝛾𝑙 = − sin−1 − 𝛿𝑙 , (19)
𝑃𝑙2 +𝑄𝑙2
𝑙𝑠 sin 𝛾𝑟 + 𝑙𝑡 sin ∅𝑟 = 𝑠. (5)
where 𝛿𝑙 = tan−1 (𝑃𝑙 /𝑄𝑙 ),
Similarly, for the left wheel,
𝑃𝑙 = 2𝑙𝑠 (𝑟 − 𝑢), (20)
𝜋
𝜃𝑙 = 𝛾𝑙 + 𝛼 − , (6)
RT
2
𝑄𝑙 = 2𝑙𝑠 𝑠, (21)
𝑙𝑠 cos 𝛾𝑙 + 𝑙𝑡 cos ∅𝑙 = 𝑟 − 𝑢, (7)
𝑅𝑙 = 𝑙𝑡2 − 𝑙𝑠2 − 𝑟 2 − 𝑠 2 − 𝑢2 + 2𝑟𝑢. (22)
IJE
1
[P cos 𝛾𝑟 + 𝑄 sin 𝛾𝑟 + 𝑅] = 0, (15)
𝑃 2 +𝑄 2
start
Read
constant
steering
parameters
Compute
Steering angles,
Steering error
The result of determining the optimal steering [6] Sharp, R. S. and Granger, R. On car steering
error 𝑒𝑠 is shown marked in Table 1. The minimum torques at parking speeds. Proc. Instn. Mech.
error is achieved with s = 3.78 in or s = 3.88 in, Engrs, J. of Automobile Engineering, 217, P. D,
which are considered an optimal value of s. It should 87-96, 2003.
be noted that the length of the steering arm is 3.5 in.
[7] Wasiwitono1, U., Pramono, A. S., and Yohanes,
Kinematic Analysis of Rack and Pinion Steering
5. Conclusion and Future Work
System of Rural Multi Purpose Vehicle,
The rack and pinion steering system, designed for
an SELU Mini Baja car, was constrained to use off- Proceeding Seminar National Tahunan Teknik
the-shelf commercial assemblies of a rack-and-pinion Mesin XI (SNTTM XI) & Thermo fluid IV,
assembly and a steering knuckle assembly designed University of Gadjah Mada (UGM), Yogyakarta,
for go-carts. Due to this constraint the design cannot 16-17 October 2012, pp. 1867 – 1871
be Ackerman compliant, therefore the design must be
optimized using the rest of the system geometry [8] Zarak, C. E. and Townsend, M. A. Optimal
parameters. design of rack-and pinion steering linkages.
The optimum value of the distance between the ASME J. of Mechanisms, Transmission and
front axle and the steering rack axis has been Automation in Design, 105: 220– 226, 1983.
systematically obtained so that the optimum value
minimizes the Ackermann steering error on the axial [9] Reimpell, H., Stoll, H. and Betzler, J. W.. The
line of the rear wheels. Automotive Chassis: Engineering Principles.
This work serves as a guideline for the steering Butterworth Heinemann, Oxford., 2002.
design of other Mini Baja cars or custom-built cars
when production constraints do not make it possible
to meet Ackerman compliance and thus optimization
of other design parameters is necessary. The
RT
contribution is the methodology used to obtain the
optimal design parameters using numerical methods.
6. References
IJE