Design of two steering mechanisms for exact satisfaction of Ackermann equation

Abstract

The common steering mechanisms approximately establish the Ackermann equation. The more the mechanism design parameters, the higher the accuracy can be achieved by using optimization. Also, some mechanisms have been developed to establish the Ackermann equation accurately. Most of these mechanisms contain non-circular gear or cam that have an infinite number of design parameters. In this paper, two novel mechanisms have been designed with a limited number of design parameters, but their geometric structure is such that the governing relationship is exactly the Ackermann equation. The proof of this claim has been given in detail and validated by GeoGebra software. Also, by using force analysis, it has been shown that the forces exerted on the joints in both mechanisms are uniform, and there are no vast forces on the joints.