wrk shp navy report

7/25/2019 wrk shp navy report

1/34

DEVELOPMENT OF FOUR WHEEL

STEERING SYSTEM FOR A CAR

K. Lohith1, Dr. S. R. Sha!a"a#$, M. H. Moi%h Go&'a(

1) M. S*. +E.- St'/t, $)Pr/%i'/t, ()A%%i%tat "ro0/%%or

Atooti2/ a' A/roati*a# Ei//ri D/"art/t,

M. S. Raaiah S*hoo# o0 A'2a*/' St'i/%, 3aa#or/ 4 56.

A7%tra*t

Pro'*tio *ar% ar/ '/%i/' to '/r%t//r a' rar/#8 'o th/8 o2/r%t//r. I0 a *ar *o#'

atoati*a##8 *o"/%at/

0or a '/r%t//r9o2/r%t//r "ro7#/, th/ 'ri2/r &o#' /:o8 /ar#8 /tra# %t//ri '/r

2ar8i o"/rati *o'itio%.

For)&h//# %t//ri i% a %/rio% /00ort o th/ "art o0 atooti2/ '/%i /i//r% to "ro2i'/

/ar)/tra# %t//ri. A#%o i

%itatio% #i!/ #o& %"//' *or/ri, 2/hi*#/ "ar!i a' 'ri2i i *it8 *o'itio% &ith h/a28

tra00i* i tiht %"a*/%,

'ri2i &o#' 7/ 2/r8 'i00i*#t '/ to 2/hi*#/;% #ar/r &h//#7a%/ a' tra*! &i'th. H/*/ th/r/

i% a r/> i% *o%i'/r/' a% a 7/*har! 2/hi*#/. Th/ ai ai o0 thi%

%/iar i% to tr th/

r/ar &h//#% ot o0 "ha%/ to th/ 0rot &h//#%. I or'/r to a*hi/2/ thi%, a /*hai% &hi*h *o%i%t% o0

t&o 7/2/# /ar% a'

it/r/'iat/ %ha0t &hi*h tra%it 1>>? tor


2/34

&a% o'/##/' %i CATIA a' th/ otio %i#atio &a% 'o/ %i ADAMS. A "h8%i*a# "rotot8"/

&a% r/a#i%/'.

Th/ "rotot8"/ &a% t/%t/' 0or it% *or/ri a7i#it8 throh *o%tat ra'i% t/%t a' &a% 0o' 5>?

r/'*tio i

tri ra'i% a' th/ 2/hi*#/ &a% o"/rat/' at #o& %"//' o0 1> !"h.

No/*#atr/

L Wh//#7a%/ @

R Tri ra'i% @

a$ Di%ta*/ o0 CG 0ro r/ar aB#/ @

'i0 I/r a#/ o0 0rot tir/ @'/r//

'o0 Ot/r a#/ o0 0rot tir/ @'/r//

'ir I/r a#/ o0 r/ar tir/ @'/r//

'i0 Ot/r a#/ o0 r/ar tir/ @'/r//

R1 Di%ta*/ 7/t&// i%tata/o% */tr/ a'

th/ aBi% o0 th/ 2/hi*#/ @

W0 Loa' o 0rot aB#/ @!


3/34

W Tota# &/iht o0 *ar @!

C1 Di%ta*/ o0 i%tata/o% */tr/ 0ro 0rot

aB#/ aBi% @

C$ Di%ta*/ o0 i%tata/o% */tr/ 0ro r/ar

aB#/ aBi% @

&0 Frot tra*! &i'th @

&r R/ar tra*! &i'th @

'

Tota# %t//ri a#/ o0 th/ 2/hi*#/ @'/r//

'i Tota# i/r a#/ o0 th/ 2/hi*#/ @'/r//

'o Tota# ot/r a#/ o0 th/ 2/hi*#/ @'/r//

1. INTRODUCTION

For &h//# %t//ri i% a /tho' '/2/#o"/' i

atoo7i#/ i'%tr8 0or th/ /00/*ti2/ tri o0 th/

2/hi*#/ a' to i*r/a%/ th/ a2/r7i#it8. I a t8"i*a#

0rot &h//# %t//ri %8%t/ th/ r/ar &h//#% 'o ot tr

i th/ 'ir/*tio o0 th/ *r2/ a' th% *r7 o th/


4/34

/00i*i/*8 o0 th/ %t//ri. I 0or &h//# %t//ri th/ r/ar

&h//#% tr &ith th/ 0rot &h//#% th% i*r/a%i th/

/00i*i/*8 o0 th/ 2/hi*#/. Th/ 'ir/*tio o0 %t//ri th/

r/ar &h//#% r/#ati2/ to th/ 0rot &h//#% '/"/'% o th/

o"/rati *o'itio%. At #o& %"//' &h//# o2//t i%

"roo*/', %o that r/ar &h//#% ar/ %t//r/' i th/

o""o%it/ 'ir/*tio to that o0 0rot &h//#%. At hih

%"//', &h/ %t//ri a':%t/t% ar/ %7t#/, th/ 0rot

&h//#% a' th/ r/ar &h//#% tr i th/ %a/ 'ir/*tio.

38 *hai th/ 'ir/*tio o0 th/ r/ar &h//#% th/r/ i%

r/'*tio i tri ra'i% o0 th/ 2/hi*#/ &hi*h i%

/00i*i/t i "ar!i, #o& %"//' *or/ri a' hih %"//'

#a/ *ha/.

I *it8 'ri2i *o'itio% th/ 2/hi*#/ &ith hih/r

&h//#7a%/ a' tra*! &i'th 0a*/ "ro7#/% o0 tri a%

th/ %"a*/ i% *o0i/', th/ %a/ "ro7#/ i% 0a*/' i #o&

%"//' *or/ri. U%a##8 *%to/r% "i*! th/ 2/hi*#/

&ith hih/r &h//#7a%/ a' tra*! &i'th 0or th/ir *o0ort

a' 0a*/ th/%/ "ro7#/%, %o to o2/r*o/ thi% "ro7#/ a

*o*/"t o0 0or &h//# %t//ri *a 7/ a'o"t/' i th/

2/hi*#/. For &h//# %t//ri r/'*/% th/ tri ra'i%

o0 th/ 2/hi*#/ &hi*h i% /00/*ti2/ i *o0i/' %"a*/, i

thi% "ro:/*t 0or &h//# %t//ri i% a'o"t/' 0or th/

/Bi%ti 2/hi*#/ a' tri ra'i% i% r/'*/' &ithot

*hai th/ 'i/%io o0 th/ 2/hi*#/.


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$. 3ACKGROUND THEORY

Th/ o%t /00/*ti2/ t8"/ o0 %t//ri, thi% t8"/ ha%

a## th/ 0or &h//#% o0 th/ 2/hi*#/ %/' 0or %t//ri

"r"o%/.

I a t8"i*a# 0rot &h//# %t//ri %8%t/ th/ r/ar

&h//#% 'o ot tr i th/ 'ir/*tio o0 th/ *r2/ a' th%

*r7 o th/ /00i*i/*8 o0 th/ %t//ri. Nora##8 thi%

%8%t/ i% ot 7// th/ "r/0/rr/' *hoi*/ '/ to

*o"#/Bit8 o0 *o2/tioa# /*hai*a# 0or &h//#

%t//ri %8%t/%. Ho&/2/r, a 0/& *ar% #i!/ th/ Ho'a

Pr/#'/, Ni%%a S!8#i/ GT)R ha2/ 7// a2ai#a7#/ &ith

0or &h//# %t//ri %8%t/%, &h/r/ th/ r/ar &h//#% tr

78 a a#/ to ai' th/ 0rot &h//#% i %t//ri.

Ho&/2/r, th/%/ %8%t/% ha' th/ r/ar &h//#% %t//r/' 78

o#8 $ or ( '/r//%, a% th/ir ai ai &a% to a%%i%t th/

0rot &h//#% rath/r tha %t//r 78 th/%/#2/%.

With a'2a*/% i t/*ho#o8, o'/r 0or &h//#

%t//ri %8%t/% 7oa%t o0 0##8 /#/*troi* %t//r)78)&ir/

%8%t/%, /


6/34

a' %/%or% to oitor th/ 2/hi*#/ '8ai*% a' a':%t

th/ %t//r a#/% i r/a# ti/. A#thoh %*h a *o"#/B

0or &h//# %t//ri o'/# ha% ot 7// *r/at/' 0or

"ro'*tio "r"o%/%, a 7/r o0 /B"/ri/ta#

*o*/"t% &ith %o/ o0 th/%/ t/*ho#oi/% ha2/ 7//

7i#t a' t/%t/' %**/%%0##8.

Co"ar/' &ith a *o2/tioa# t&o &h//# %t//ri

%8%t/, th/ a'2ata/% o00/r/' 78 a 0or &h//# %t//ri

%8%t/ i*#'/

1. S"/rior *or/ri %ta7i#it8.

$. I"ro2/' %t//ri r/%"o%i2//%% a' "r/*i%io.

(. Hih %"//' %traiht #i/ %ta7i#it8.

. Nota7#/ i"ro2//t i ra"i' #a/ *hai

a/2/r%.

5. Sa##/r tri ra'i% a' tiht %"a*/

a/2/ra7i#it8 at #o& %"//'.

. R/#ati2/ &h//# a#/% a' th/ir *otro#.

U%a##8 i 2/hi*#/% 'ri tri, th/ tir/% ar/

%7:/*t to th/ 0or*/% o0 ri", o/t, a' %t//ri

i"t &h/ a!i a o2//t oth/r tha %traiht)

ah/a' 'ri2i. Th/%/ 0or*/% *o"/t/ &ith /a*h oth/r

'ri %t//ri ao/2r/%. With a 0rot)%t//r/'

2/hi*#/, th/ r/ar /' i% a#&a8% tr8i to *at*h " to th/

'ir/*tioa# *ha/% o0 th/ 0rot &h//#%. Thi% *a%/% th/

2/hi*#/ to %&a8. Wh/ tri, th/ 'ri2/r i% "tti ito

otio a *o"#/B %/ri/% o0 0or*/%. Ea*h o0 th/%/ %t


7/34

7/ 7a#a*/' aai%t th/ oth/r%. Th/ tir/% ar/ %7:/*t/' to

roa' ri" a' %#i" a#/. Gri" ho#'% th/ *ar;% &h//#% to

th/ roa', a' o/t o2/% th/ *ar %traiht ah/a'.

St//ri i"t *a%/% th/ 0rot &h//#% to tr. Th/ *ar

o/tari#8 r/%i%t% th/ tri otio, *a%i a tir/

%#i" a#/ to 0or. O*/ th/ 2/hi*#/ 7/i% to r/%"o'

to th/ %t//ri i"t, *or/ri 0or*/% ar/ //rat/'.

Th/ 2/hi*#/ %&a8% a% th/ r/ar &h//#% att/"t to !//" "

&ith th/ *or/ri 0or*/% a#r/a'8 //rat/' 78 th/ 0rot

tir/%. Thi% i% r/0/rr/' to a% r/ar)/' #a 7/*a%/ th/r/ i%

a ti/ '/#a8 7/t&// %t//ri i"t a' 2/hi*#/

r/a*tio. Wh/ th/ 0rot &h//#% ar/ tr/' 7a*! to a

%traiht)ah/a' "o%itio, th/ 2/hi*#/ %t aai tr8 to

a':%t 78 r/2/r%i th/ %a/ 0or*/% '/2/#o"/' 78 th/

tr. A% th/ %t//ri i% tr/', th/ 2/hi*#/ 7o'8 %&a8%

a% th/ r/ar &h//#% aai tr8 to !//" " &ith th/

*or/ri 0or*/% //rat/' 78 th/ 0rot &h//#%.

Th/ i'/a 7/hi' 0or)&h//# %t//ri i% that a 2/hi*#/

r/


8/34

ah/a' "o%itio. Th/ 2/hi*#/ r/%"o'% or/


9/34

/ro %t//r *a %ii0i*at#8 /a%/ th/ "ar!i

"ro*/%% '/ to it% /Btr//#8 %hort tri 0oot"rit.

Thi% i% /B/"#i0i/' 78 th/ "ara##/# "ar!i %*/ario

&hi*h i% *oo i 0or/i *otri/% a' i% "r/tt8

r/#/2at to or *iti/%. H/r/ a *ar ha% to "ar! it%/#0

7/t&// th/ t&o oth/r *ar% "ar!/' o th/ %/r2i*/ #a/.

Thi% a/2/r r/


10/34

*7/r%o/ a' /2/ 'a/ro% i% *hai #a/% at

0air#8 hih %"//'. A#thoh thi% i% #/%% %t//ri %/%iti2/

thi% 'o/% r/


11/34

Fi. $ Hih %"//' #a/ *ha/ a/2/r%. +$-

Th/ *o"a8 Ho'a Pr/#'/ +(- a0a*tr/'

th/ 0ir%t 0or &h//# %t//ri *ar a' it '/0i/% 0or

&h//# %t//ri a% th/ /00/*t o0 th/ WS /*hai%

a*ti i thi% &a8 &a% o)#i/ar %t//ri. That i%, th/

/00/*ti2/ %t//ri ratio 2ari/' 0ro a #o& ratio at %a##

%t//ri a#/%, to hih ratio at #ar/ a#/%. Thi% /a%

or/ %t//ri a#/ i"t i% r/


12/34

a#/, a o/ thir' r/'*tio i tr ra'i% i% a*hi/2/'.

At 1>> "/r*/t r/ar %t//r a#/, a 5> "/r*/t r/'*tio

i tr ra'i% o**r%.

Th/ "riar8 a'2ata/ o0 WS i% '/ri2/' 0ro th/

7/tt/r *otro# o0 tra%i/t 7/ha2ior i *or/ri. I

//ra# WS %8%t/% 8i/#' a


13/34

r/'*tio i tri ra'i% i% a*hi/2/'. For a*hi/2i

r/'*tio a /*hai% i% 7i#t &hi*h tr% th/ r/ar

&h//#% o""o%it/ to th/ 0rot &h//#%.

(.1 M/tho'o#o8

.

Lit/ratr/ r/2i/& o /00/*t o0 i"#//ti 0or

&h//# %t//ri %8%t/ o tri ra'i% a'

a/2/ra7i#it8 o0 a *ar ar/ *arri/' ot 78

r/0/rri :ora#%, 7oo!%, aa#% a' r/#at/'

'o*/t%.

.

Th/ 0or &h//# %t//ri %8%t/ o'/# &a% 7i#t

%i ADAMS %o0t&ar/ a' %i#atio% *arri/'

ot to !o& th/ tri ra'i% a'

a/2/ra7i#it8.

.

For &h//# %t//ri "h8%i*a# o'/# &a% 7i#t

*o%i'/ri %a/ %t7 aB#/ 0or 0rot a' r/ar.

.

CRC t/%t &a% *o'*t/' to aa#8=/

a/2/ra7i#it8 o0 th/ o'/#.

.


14/34

Tri ra'i% *o"ari%o &/r/ a'/ 7/t&//

th/ "h8%i*a# o'/# a' th/ ADAMS o'/#.

. CALCULATION +5-

Ca#*#atio 0or %t//ri a#/% 0or th/ tri ra'i% o0

..

Fro th/ 7/*har! 2/hi*#/ &/ !o& that tri

ra'i% i% . .

W/ !o& that

R$ a$$ R1$.. @1

Wh/r/ R Tri ra'i% o0 th/ 2/hi*#/.

a$ Di%ta*/ o0 CG 0ro r/ar aB#/.

R1 Di%ta*/ 7/t&// i%tata/o% */tr/

a' th/ aBi% o0 th/ 2/hi*#/.

To 0i' a$

W0 @W a$ 9 L @$

Wh/r/ W0 Loa' o 0rot aB#/.

W Tota# &/iht o0 *ar.

L Wh//#7a%/.

So 0ro /


15/34

To 0i' %t//ri a#/%J

Fro t/%t &/ 0o' that th/ i/r a#/ o0 0rot tir/ i%,

'i0 $5.>.

ta 'i0 C1 9 @R1 4 &0 9 $. @(

C1 C$ L.. @

Wh/r/ C1 Di%ta*/ o0 i%tata/o% */tr/ 0ro 0rot

aB#/ aBi%.

C$ Di%ta*/ o0 i%tata/o% */tr/ 0ro

r/ar aB#/ aBi%.

&0 Frot tra*!&i'th.

Fro /


16/34

SASTECH ora#

$ Vo#/ 1$, I%%/ 1, A"ri# $>1(


17/34

Fi. ( St//ri a#/% "o%itio o0 i%tata/o%

*/tr/ 0or tri ra'i% .. +-

No& *o%i'/ri th/ %a/ %t//ri a#/% 0or 0rot

a' r/ar tir/%, &/ r/'*/ i th/ tri ra'i% o0 th/

2/hi*#/ 7t !//"i th/ &h//#7a%/ a' tra*! &i'th %a/

a% th/ 7/*har! 2/hi*#/.

Ca#*#atio 0or tri ra'i% 0or %a/ %t//ri a#/%.

To 0i' tri ra'i%, R

R$ a$$ L$ *ot$' @6

Wh/r/ ' Tota# %t//ri a#/ o0 th/ 2/hi*#/.

To 0i' '

*ot' @*ot'i *ot'o 9 $.. @

Wh/r/ 'i tota# i/r a#/ o0 th/ 2/hi*#/.

'o tota# ot/r a#/ o0 th/ 2/hi*#/.

*ot' 1.>($.

Fro /.6$ .

C$ 1(.1 .


18/34

Fi. St//ri a#/% a' "o%itio o0 i%tata/o%

*/tr/ 0or tri ra'i% $.5

Fro Fir/ 6 a' &/ *a %// that th/r/ i% a

*ha/ i i%tata/o% */tr/ a% th/r/ i% *ha/ i

tri ra'i%. Th/ 2a#/% o0 C1 a' C$ *ha/%

ra'a##8, i 0ir/ ( th/ 2a#/ o0 C1 i% r/at/r a' th/

2a#/ o0 C$ i% #/%%/r 7t i Fir/ a% th/ tri ra'i%

*ha/% th/ 2a#/% o0 C1 7/*o/% #/%%/r a' th/ 2a#/

o0 C$ 7/*o/% or/, thi% :%ti0i/% that th/r/ i% *ha/ i

i%tata/o% */tr/, %o th/r/ i% *ha/ i tri

ra'i%. Fro *ha/ i i%tata/o% */tr/ a'

*a#*#atio% &/ *o*#'/ that 0or %a/ &h//#7a%/ a'

tra*! &i'th th/r/ i% *ha/ i tri ra'i% 0ro .

to $.5 .

.1 D/%i o0 Mo'/#

Th/ o'/# i% '/%i/' *o%i'/ri th/ %a/ &h//#

7a%/ a' tra*! &i'th a% Marti S=!i 6>>. Th/ o'/#

i% '/%i/' %i th/ %o0t&ar/ CATIA V5.

Fi. 5 D/%i/' CATIA o'/#

Th/ o'/# %ho& i 0ir/ i% '/%i/' i CATIA

78 %i th/ o"tio% %r0a*i, th/ o'/# i% '/%i/'


19/34

*o%i'/ri 0or tir/% a' 0or %t7 aB#/%, h/r/ &/ ar/

"#a*i t&o %t//ri %/t o/ at 0rot a' th/ oth/r at th/

r/ar %o th/ %t7 aB#/ *o%i'/r/' at r/ar &h//#% ar/

/Ba*t#8 th/ %a/ a% 0rot %t7 aB#/%. Th/r/ i% a %ha0t

*o/*ti 7/t&// th/ 0rot %t//ri 7oB a' th/ r/ar

%t//ri 7oB a' 'o7#/ &i%h7o/ %%"/%io t8"/ i%

*o%i'/r/' 0or %%"/%io a' o#8 o/ '/r// o0

0r//'o i% a""#i/' 0or th/ %%"/%io otio, r/%t a##

th/ '/r//% ar/ *o%trai/'.

H/r/ t&o 7/2/# /ar% ar/ *o%i'/r/', o/ 7/2/#

/ar i% atta*h/' to th/ %t//ri *o# o0 th/ 0rot

%t//ri 7oB a' th/ oth/r 7/2/# /ar i% atta*h/' to th/

it/r/'iat/ %ha0t. Th/ i"t i% i2/ at th/ %t//ri

&h//# 78 th/ 'ri2/r &hi*h rotat/% th/ %t//ri *o#,

a% %t//ri *o# rotat/% th/ /ar atta*h/' to it &i##

rotat/, th/ oth/r 7/2/# /ar *o"#/' &ith th/ 7/2/# /ar

o0 %t//ri *o# rotat/% i o""o%it/ 'ir/*tio, %o &ith

r/%"/*t to th/ %/*o' 7/2/# /ar atta*h/' to th/

it/r/'iat/ %ha0t, th/ %ha0t rotat/% i th/ 'ir/*tio o0

th/ %/*o' 7/2/# /ar. Th/ r/ar %t//ri *o# i%

atta*h/' &ith th/ it/r/'iat/ %ha0t a#%o rotat/% a% "/r

th/ %ha0t %*h that th/ r/ar &h//#% atta*h/' to th/ r/ar

%t//ri *o# rotat/% a% "/r th/ r/ar %t//ri *o#,

%o th/ r/ar &h//#% rotat/% i o""o%it/ 'ir/*tio to th/

'ri2/r i"t to th/ %t//ri &h//#.

.$ Fia# Mo'/# A0t/r Cr/ati oit%


20/34

Fi. Fia# o'/# a0t/r *r/ati th/ :oit%

Fir/ 11 %ho&% th/ 0ia# o'/# a0t/r *r/ati a##

th/ :oit% &ith r/%"/*t to a## "art%. Th/ :oit i2/ 0or

0rot %t//ri i% r/"#i*at/' at th/ r/ar %t//ri, th/r/ i%

7/2/# /ar :oit "ro2i'/' 7/t&// %t//ri *o# a'

it/r/'iat/ %ha0t. Thi% it/r/'iat/ %ha0t "ro2i'/% th/

rotatio o/t to th/ r/ar %t//ri throh r/ar 7o'8,

SASTECH ora# ( Vo#/ 1$, I%%/ 1, A"ri# $>1(


21/34

th/ %ha0t /t% th/ rotatioa# o/t 0ro th/ 7/2/# /ar

a' thi% 7/2/# /ar /t% th/ rotatioa# o/t 0ro

%t//ri *o#.

Ta7#/ 1. oit% *o/*t/' to th/ "art%

Part Part oit

St//ri &h//# Ra*! 7o'8 R/2o#tio

St//ri &h//# St//ri *o# 1 Hoo!/

St//ri *o# 1 St//ri *o# $ Hoo!/

St//ri *o# $ Ra*! 7o'8 C8#i'ri*a#

Ra*! Ti/ ro' Tra%#atio

Ti/ ro' 3a## :oit S"h/ri*a#

3a## :oit Wh//# FiB/'

Wh//# Tir/ FiB/'

.( Si#atio o0 For Wh//# St//ri

Fi. Si#atio o0 0or &h//# %t//ri

A0t/r *r/ati a## th/ :oit% th/ %i#atio i%

*arri/' ot 0or th/ o'/#. Th/ otio i% i2/ to th/

%t//ri &h//# 0ro that otio th/ 2/hi*#/ tr% &ith

th/ h/#" o0 th/ oth/r "art% a' :oit%. Fro th/ 0ir/ 1$

&/ *o*#'/ that a## th/ 0or &h//#% ar/ tri at a

a#/, th/ 0rot &h//#% tr a% "/r th/ %t//ri &h//#

tr% a' th/ r/ar &h//#% tr o""o%it/ to th/ 0rot

&h//#%, a% "/r th/ *a#*#atio a' th/or8 th/ *o*/"t o0

0or &h//# %t//ri i% "ro2/' 0ro th/ %i#atio.


22/34

5. DESIGN OF FRAME

For 7i#'i o0 "rotot8"/ o'/#, th/ '/%i/'

o'/# i% *o%i'/r/' a#o &ith that a 0ra/ i% 7i#t to

%""ort th/ %t//ri, %%"/%io a' %/at.

Fi. 6 D/%i o0 0ra/

Th/ 0ra/ i% '/%i/' *o%i'/ri th/ &h//#7a%/

a' tra*! &i'th o0 Marti S=!i 6>> a' a#%o it ha% to

%""ort 0or th/ %%"/%io "art a% th/ %%"/%io i%

&/#'/' to th/ 0ra/, %/at i% a#%o &/#'/' to th/ 0ra/,

th/ %""ort %tr*tr/ 0or %t//ri *o# a' ra*! 7o'8

i% &/#'/' to th/ 0ra/. Th/ 0ra/ a#%o ta!/% th/ roa'

#oa' a' #oa' o0 th/ 'ri2/r, %o *o%i'/ri a## th/

0a*tor% th/ 0ra/ i% '/%i/' a' '/2/#o"/'.

5.1 E> o0 'i/%io

159>R1$.

5. T&o %/t% o0 %t7 aB#/ o0 0rot tir/% o0 Marti S=!i

6>>.


23/34

. O/ %t//ri &h//# o0 Marti S=!i 6>>.

. T&o ti/ ro'% o0 Marti S=!i 6>>.

6. A %o#i' ro' o0 1 'ia/t/r o0 1.5 #/th.

. A %> B >> o0 $

thi*!/%% to a*t a% %/at.

5.$ Cha/ 0ro $&% to &%

Th/ o'/# i% 7i#t %*h that it *a 7/ *ha/' 0ro

0or &h//# %t//r to t&o &h//# %t//r &h/ /2/r r/ !"h it ha% to 7/ i t&o &h//# %t//r %o

th/ 2/hi*#/ i% '/%i/' %*h that it *a 7/ *o2/rt/' to

0or &h//# %t//r i "ar!i a' aai 7a*! to t&o &h//#

%t//r &h/ th/ 2/hi*#/ *ro%%/% o2/r 1> !"h. For

*hai 0ro 0or &h//# %t//r to t&o &h//# %t//r th/r/

ar/ t&o ti/ ro'% *o/*t/' to 0ra/ a% %ho& i 0ir/

. 38 th/ h/#" o0 thi% ti/ ro' &/ *a *ha/ 0ro 0or

&h//# %t//r to t&o &h//# %t//r.

Fi. Ti/ ro'% 0or *o2/rti 0ro 0or &h//#

%t//r to t&o &h//# %t//r

5.( Fia# Mo'/#

Fi. 1> Fia# "rotot8"/ o'/#

SASTECH ora# Vo#/ 1$, I%%/ 1, A"ri# $>1(


24/34

Fir/ 1> %ho&% th/ 0ia# "rotot8"/ o'/#, th/

o'/# i% 7i#t *o%i'/ri a## th/ at/ria#% %"/*i0i/'.

Thi% o'/# i% t/%t/' 0or *o%tat ra'i% t/%t to *h/*! th/

r/'*tio i tri ra'i% a' *o"ar/' th/ r/%#t &ith

th/ th/or/ti*a# 2a#/ o7tai/'.

5. T&o Wh//# St//r

Fir/ 11 %ho&% th/ o'/# i% i t&o &h//# %t//r,

th/ ti/ ro' &hi*h i% *o/*t/' to th/ 0ra/ i% *o/*t/'

to th/ %t7 aB#/ o0 th/ r/ar %o that th/ 0or &h//# %t//r i%

/tra#i%/' a' it i% i t&o &h//# %t//r. W/ *a %// i

0ir/ .5 that o#8 0rot &h//#% ar/ at a a#/ a0t/r

%t//ri 7t r/ar &h//#% ar/ at %traiht ah/a' "o%itio.

Co%tat ra'i% t/%t i% *o'*t/' *o%i'/ri t&o &h//#

%t//r to *h/*! th/ tri ra'i% o0 th/ "rotot8"/ o'/#.

A0t/r *o'*ti th/ t/%t th/ tri ra'i% &/ ot i%

5.5 , 7t a**or'i to th/ 7/*har! 2/hi*#/ it ha% to

7/ . . Th/r/ i% a /rror o0 $(.?, th/ r/a%o

7/hi' thi% /rror i% th/ &h//# 7a#a*i i% ot "ro"/r a%

&/## th/ %%"/%io '/%i &a% %ho&i a /rror. Th/

*a7/r a#/ o0 0rot riht tir/ i% or/ *o"ar/' to th/

0rot #/0t tir/, a#%o th/r/ &a% a 7it o0 to/ ot o0 th/ 0rot

&h//#%. So th/%/ 0a*tor% a00/*t/' th/ "/r0ora*/ o0 th/

2/hi*#/ &hi#/ tri a' r/%#t/' i th/ i*r/a%/ o0

tri ra'i% o0 th/ 2/hi*#/ 78 $(.?.

Fi. 11 T&o &h//# %t//r o0 th/ "rotot8"/ o'/#


25/34

5.5 FOUR WHEEL STEER

Fi. 1$ For &h//# %t//r o0 "rotot8"/ o'/#

Fir/ 1$ %ho&% th/ 0or &h//# %t//ri o0

"rotot8"/ o'/#. Th/ ti/ ro' *o/*t/' to th/ 0ra/ a'

th/ r/ar %t7 aB#/ i% r/o2/' a' th/ ti/ ro' *o/*t/'

to th/ r/ar %t//r ra*! i% *o/*t/' to th/ r/ar %t7 aB#/

%*h that th/ t&o &h//# %t//r i% *o2/rt/' ito th/ 0or

&h//# %t//r. A0t/r *o2/rti it *o%tat ra'i% t/%t i%

*o'*t/' 0or th/ 0or &h//# %t//r to *h/*! th/

r/'*tio i tri ra'i%. 38 t/%t th/ tri ra'i%

&/ ot i% $.65 , %o th/ r/'*tio i tri ra'i% i%

5>.(?. 3t a% "/r th/ *a#*#atio th/ r/'*tio i

tri ra'i% i% 1.1(?, &/ ot .(? or/ r/'*tio

tha *a#*#at/' 2a#/, a% th/ tri ra'i% o0 t&o &h//#

%t//r i% a#%o $(.? or/ i thi% "rotot8"/ o'/#. 38

thi% t/%t &/ *a *o*#'/ th/r/ i% a r/'*tio i tri

ra'i%.

. DISCUSSION OF RESULTS

.1 Frot L/0t Wh//# 29% St//ri Wh//#

Fi. 1( Frot #/0t &h//# 2/r%% %t//ri &h//#

Fir/ 1( %ho&% th/ "#ot 7/t&// th/ 0rot #/0t

&h//# o0 th/ o'/# &ith th/ %t//ri &h//# o0 th/

o'/#, a% th/ %t//ri &h//# rotat/% th/ 0rot &h//#

rotat/% at a a#/ a' thi% ratio o0 rotatio o0 a#/ i%


26/34

*a##/' %t//ri ratio. A**or'i to th/ Marti S=!i

6>> th/ %t//ri ratio i% 11, %o *o%i'/ri thi% &/

ha2/ '/2/#o"/' a o'/#. I aa#8ti*a# o'/#, th/ o'/#

i% i2/ a %t/" 0*tio to tr a aBi o0 (5

'/r//, %o *o%i'/ri (5 '/r// a' %t//ri ratio o0

11, th/ a#/ th/ tir/ ha% to tr i% $.5 '/r//. 3t thi%

0rot #/0t &h//# i% tri at $.6 '/r//, /2/ thoh it

ha% to tr $.5 '/r// it% tri or/ 7/*a%/ &h/

2/hi*#/ ta!i a #/0t tr, 0rot #/0t &h//# i% th/ i/r

&h//# %o it ha% to tr or/ '/r// tha th/ oth/r 0rot

&h//#. Thi% r/%#t "ro2/% that th/ i/r tir/ i% ta!i

or/ tr.

.$ Frot Riht Wh//# 29% St//ri Wh//#

Fi. 1 Frot riht &h//# 2/r%% %t//ri &h//#

Fir/ 1 %ho&% th/ "#ot 7/t&// 0rot riht &h//#

a' %t//ri &h//#, h/r/ th/ riht &h//# i% tri at a

a#/ o0 $. '/r// &hi*h i% >.1 '/r// or/ to th/

th/or/ti*a# *a#*#atio, &h/ 2/hi*#/ i% ta!i a #/0t tr

thi% riht &h//# i% th/ ot/r &h//# a' it ha% to ta!/ #/%%

'/r// o0 tr. Th/ r/a%o 7/hi' or/ '/r// o0 tr

i% th/ *a7/r a#/ i% or/ to th/ riht &h//# a' it;%

7// to/ ot at a a#/, %o th/ riht tir/ i% ta!i or/

a#/. 38 a''i 7oth a#/% o0 0rot riht a' 0rot #/0t

tir/% &/ %ho#' /t a % o0 5 '/r// 7t h/r/ &/ ar/

/tti 5. '/r//% &hi*h i% >. '/r// or/, %o th/

/rror i% >.>?. A**or'i to th/ *a#*#atio th/ 0rot


27/34

#/0t tir/ %ho#' tr $.$ '/r// 7t it i% tri $.

'/r// a' th/ /rror i% 15.(6?.

SASTECH ora# 5 Vo#/ 1$, I%%/ 1, A"ri# $>1(


28/34

.( R/ar L/0t Wh//# 29% St//ri Wh//#

Fir/ 15 %ho&% th/ "#ot 7/t&// r/ar #/0t &h//#

a' %t//ri &h//#, h/r/ th/ #/0t &h//# i% tri at a

a#/ o0 )$. '/r//, th/ /ati2/ %i i'i*at/% th/ r/ar

&h//# i% tri i o""o%it/ 'ir/*tio to th/ 0rot

&h//#%. Th/ 2/hi*#/ i% ta!i a #/0t tr %o i thi% *a%/

th/ #/0t &h//# &i## 7/ ot/r &h//#.

Fi. 15 R/ar #/0t &h//# 2/r%% %t//ri &h//#

A% "/r th/ *a#*#atio thi% #/0t &h//# %ho#' ot

*ro%% a aBi a#/ o0 )$.5 '/r//% 7t it ha% ta!i

)>.$ '/r// or/ tr, th/ r/a%o 7/hi' or/ tr i%

th/ r/ar #/0t &h//# ha% or/ %#i" a#/, '/ to thi% %#i"

th/ *a7/r i% or/ a' it;% ta!i or/ tr tha

/B"/*t/'. Th/ /rror "/r*/ta/ i% >.>?.

. R/ar Riht Wh//# 29% St//ri Wh//#

Fi. 1 R/ar riht &h//# 2/r%% %t//ri &h//#.

Fro Fir/ 1 %ho&% th/ "#ot 7/t&// r/ar

riht &h//# a' %t//ri &h//#, h/r/ th/ riht

&h//# i% tri at a a#/ o0 )$. '/r//%. Th/

2/hi*#/ i% ta!i a #/0t tr %o i thi% *a%/ th/ riht

&h//# &i## 7/ i/r &h//#. A% "/r th/ *a#*#atio

thi% riht &h//# %ho#' ot *ro%% a aBi

a#/ o0 )$.6 '/r// 7t it ha% ta!i )>.1 '/r//


29/34

or/ tr, a% th/ #/0t &h//# i% ta!i or/ tr

'/ to thi% riht &h//# a#%o ta!i or/ tr, th/

/rror i% >.>(?.

.5 R/ar Wh//#% 29% St//ri Wh//#

No& *o%i'/ri 7oth th/ #/0t &h//# a' riht

&h//# th/ a#/ th/ r/ar &h//#% %ho#' tr at a a#/

o0 )5 '/r//%, 7t 0ro 0ir/ 1 &/ %// that %i

o0 7oth a#/% it% *ro%%i )5 '/r// a' r/a*hi )5.6

'/r//% i,/ @)>.6 '/r//% or/. Th/ /rror 0o' &a%

>.1(?. Co"ari th/ r/ar &h//#% tota# a#/ &ith 0rot

&h//#% tota# a#/, th/ 0rot &h//#% tota# a#/ i% 5.

'/r// a' th/ r/ar &h//#% tota# a#/ i% )5.6 '/r// 78

/ati2/ %i &/ *a %a8 it;% tri i o""o%it/

'ir/*tio 7t th/r/ i% >. '/r// 'i00/r/*/ 7/t&//

7oth &h//#%. A**or'i to th/ *a#*#atio r/ar &h//#%

%ho#' tr at %a/ a#/ a% th/ 0rot &h//#% i

o""o%it/ 'ir/*tio 7t h/r/ r/ar &h//#% ar/ ta!i >.

'/r// or/ tr, th/ r/a%o i% th/r/ i% or/ %#i" a#/

a' thi% %#i" i% >. '/r//. 38 thi% &/ *a *o*#'/ that

0or th/ %#i" a#/ o0 >. '/r// th/ r/ar &h//#% ar/

ta!i >. '/r// or/ tr.

. Co%tat Ra'i% T/%t

Co%tat ra'i% t/%t i% *o'*t/' 0or t&o &h//#

%t//r a' 0or 0or &h//# %t//r, 0ir%t th/ ti/ ro' *o/*t/'

to 0ra/ i% *o/*t/' to r/ar %t7 aB#/ a' *o%tat

ra'i% t/%t i% *o'*t/', th/ th/ ti/ ro' i% r/o2/' a'


30/34

ti/ ro' o0 r/ar %t//r i% *o/*t/' to th/ r/ar %t7 aB#/

a' t/%t i% *o'*t/' 0or th/ 0or &h//# %t//r. For

/a%ri th/ *ir*#/ 0or/' 78 th/ 2/hi*#/, a ro' i%

"#a*/' at th/ */tr/ o0 th/ 2/hi*#/ a' it i% /a%r/' 78

th/ /a%ri ta"/.

Fir/ 16 a' 1 %ho&% th/ *o%tat ra'i% t/%t

*o'*t/' 0or t&o &h//# %t//r a' 0or &h//# %t//r. Th/

*ir*#/ r/"r/%/t% th/ tri 'ia/t/r o0 th/ 2/hi*#/, 0or

t&o &h//# %t//r th/ *ir*#/ 'ia/t/r i% 11.5 a' 0or

0or &h//# %t//r th/ *ir*#/ 'ia/t/r i% 5. . So tri

ra'i% o0 t&o &h//# %t//r i% 5.5 a' 0or 0or &h//#

%t//r $.65 .

CRC t/%t 0or t&o &h//# %t//r

Fi. 16 Co%tat ra'i% t/%t *o'*t/' 0or t&o

&h//# %t//r.

CRC t/%t 0or 0or &h//# %t//r

Fi. 1 R/ar &h//#% 2/r%% %t//ri &h//#.

SASTECH ora# Vo#/ 1$, I%%/ 1, A"ri# $>1(


31/34

Fi. 1 Co%tat ra'i% t/%t *o'*t/' 0or 0or

&h//# %t//r.

. Co"ari%o

Fi. $> Co"ari%o *ir*#/ o0 $WS a' WS

Ta7#/ $. Co"ari%o 0or t&o &h//# %t//r

a' 0or &h//# %t//r

Tri For T&o

ra'i% &h//# %t//r &h//# %t//r

38

*a#*#atio

$.5 .

38

/B"/ri/t

$.65 5.5

Ta7#/ $ i2/% th/ *o"ari%o 7/t&// th/ tri

ra'i% 0or t&o &h//# %t//r a' 0or &h//# %t//r 78

*a#*#atio a' /B"/ri/t. 38 *a#*#atio &/ *a

*o*#'/ that th/r/ i% 1.1( ? r/'*tio i tri

ra'i% a' 78 /B"/ri/t it;% 5>.(?.

. CONCLUSION

38 th/ aa#8ti*a# a' /B"/ri/ta# aa#8%i%

a' r/%#t% &/ *o*#'/ thatJ


32/34

For &h//# %t//ri *o*/"t &a% //rat/'

Th/ 0or &h//# *o*/"t &a% %i#at/' i

ADAMS to *h/*! 0or 0*tioa#it8 o0

/*hai%

Wor!i "rotot8"/ &a% 7i#t to *arr8 ot

CRC t/%t% a' to 0i' th/ r/'*tio i tri

ra'i% &ith 0or &h//# %t//ri &h/

*o"ar/' to t&o &h//# %t//ri

Th/ r/%#t% 0ro CRC t/%t% ar/ a% 0o##o&%

Tri ra'i% a*hi/2/' &ith t&o &h//#

%t//ri i% 5.5 a' tri ra'i% a*hi/2/'

&ith 0or &h//# %t//ri i% $.65.

38 /B"/ri/t th/ r/'*tio i tri ra'i%

&ith 0or &h//# %t//ri &h/ *o"ar/' to

t&o &h//# %t//ri i% 5>.(?.

6. REFERENCES

+1-

U!o&, For &h//# %t//ri r/"ort,

htt"99&&&.%*ri7'.*o9'o*9(9ForWh//#)

St//ri)r/"ort, R/tri2/' o 1(th S/" $>1$.

+$-

U!o&, For &h//# %t//ri,

htt"99&&&.&i%///!.*o9&hat)i%)0or)&h//#%t//ri.


33/34

ht, R/tri2/' o 1(th S/" $>1$.

+(- U!o&, For &h//# %t//ri, htt"99&hat)&h/ho&.

*o9atoo7i#/90or)&h//#)%t//ri)&%atoo7i#/9,

R/tri2/' o 1th S/" $>1$.

+- Ho'a Pr/#'/ Si WS It Wi## N/2/r St//r Yo

Wro,Q Car a' Dri2/r, Vo#. ((, No. $, ""%. >5,

A%t 16.

+5-

Sao % /t a#, O"/ratioa# a' '/%i 0/atr/% o0

th/ %t//r a#/ '/"/'/t 0or &h//# %t//ri

%8%t/.Q 11th It/ratioa# *o0/r/*/ o

EB"/ri/ta# %a0/t8 2/hi*#/%, Wa%hito D C

166, 5P.

+- a*! Er:a2/*.,

Atooti2/ T/*ho#o8, A S8%t/

A""roa*h, 5th E'itio, $>1>.

+-

Farro!hi, For &h//# %t//ri,

htt"99&&&.i%t.a*.ir90i#/%9//90arro!hi>a50>9:ora

#"a"/r%9:1(."'0, R/tri2/' o $>th O*t $>1$.

+6- M. A7/, V/hi*#/ D8ai*% a' Cotro# 0or

I"ro2i Ha'#i a' A*ti2/ Sa0/t8 Fro

For)Wh//#)St//ri to Dir/*t Ya& Mo/t

Cotro#, i Pro*. I%tittio o0 M/*hai*a#

Ei//r%, Part K, ora# o0 Mi#ti)7o'8

D8ai*%, 2o#. $1(, o. , 1.

+-

L//, A.Y., V/hi*#/ Sta7i#it8 A/tatio


34/34

S8%t/% D/%i% 0or For Wh//# St//ri

V/hi*#/%,Q ASME ora# o0 D8ai*a# S8%t/%,

M/a%r//t% a' Cotro#, Vo#. 11$, No. (, ""%.

6)5, S/"t/7/r 1>.

+1>- 0or &h//# %t//ri %8%t/ 0or 0tr/ )

It/ratioa# ora#%

t:"r*.or9'ooa'."h"0a/$$(...

5...?$>FOUR?$>?$>...

+11- Na#/*= A G a' 3i'/a A C, Aa#8%i% o0 th/

'8ai* r/%"o%/ o0 0or &h//# %t//ri 2/hi*#/%

at hih %"//'.Q It/ratioa# :ora# o0 2/hi*#/

'/%i, Vo# , No $, 166, "". 1)$>$.

+1$- U!o&,

Marti S=!i,

htt"99&&&.*ar0o#io9arti)%=!i)6>>.ht,

R/tri2/' o th No2 $>1$.

+1(- R/=a.N.a=ar.,

V/hi*#/ D8ai*%, Th/or8 a'

a""#i*atio%, $>>6.

SASTECH ora#

Vo#/ 1$, I%%/ 1, A"ri# $>1(

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