Abstract
A steering model that used fourbar linkage mechanisms to describe its geometry and accounted for the spatialorientation of the kingpin was developed. A narrow orchard tractor equipped with a commercial SuperSteer steering systemwas operated in a Yolo loam soil and on an asphalt surface at the University of California, Davis, to obtain turning radii.Steering tests were conducted at two input steering angles, two forward speeds, and two drawbar load levels on two distinctsurfaces. Results showed welldefined turning radii on an asphalt surface and understeering in a tilled soil. Turning radiiwere obtained by solving a nonlinear system of equations based on Fromms drifting tire equations, camber trust equations,and parameters obtained from geometric equations. The model was evaluated using existing data. The predicted radii werein reasonable agreement with the experimental results in both the tilled soil and on the asphalt surface.
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