Relevant bibliographies by topics / Ackermann steering geometry

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  1. Journal articles
  2. Dissertations / Theses
  3. Conference papers

Academic literature on the topic 'Ackermann steering geometry'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Ackermann steering geometry"

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Zheng, Hongyu, and Shuo Yang. "Research on race car steering geometry considering tire side slip angle." Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and Technology 234, no. 1 (September 9, 2019): 72–87. http://dx.doi.org/10.1177/1754337119872417.

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The steering trapezoid designed according to the Ackermann steering geometry potentially causes excessive tire wear and affects the steering performance due to the large tire deformation resulting from large lateral acceleration. To address these problems, this article introduces a design method for a race car steering system that considers the tire side slip angles to optimize the target steering angle relation. First, a racing path was planned by genetic algorithm according to the given race track and race car driver characteristics. Next, the objective function of the ideal steering angle relation was constructed by introducing the Ackermann correction coefficient and establishing the modified Ackermann steering geometry model, considering the tire side slip angle. Then, a data acquisition experiment was designed, and the Ackermann correction coefficient was identified by the proposed simulation algorithm. Finally, the coincidence degree of wheel steering centers was defined as the evaluation index, which can be used to describe and evaluate the performance of the coordination for wheels’ movement. Simulation results show that the design method of the steering system effectively improves the handling stability of the race car and reduces the tire leaning-grind.
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Zhao, Jing-Shan, Xiang Liu, Zhi-Jing Feng, and Jian S. Dai. "Design of an Ackermann-type steering mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 11 (February 4, 2013): 2549–62. http://dx.doi.org/10.1177/0954406213475980.

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This article focuses on the synthesis of a steering mechanism that exactly meets the requirements of Ackermann steering geometry. It starts from reviewing of the four-bar linkage, then discusses the number of points that a common four-bar linkage could precisely trace at most. After pointing out the limits of a four-bar steering mechanism, this article investigates the turning geometry for steering wheels and proposes a steering mechanism with incomplete noncircular gears for vehicle by transforming the Ackermann criteria into the mechanism synthesis. The pitch curves, addendum curves, dedendum curves, tooth profiles and transition curves of the noncircular gears are formulated and designed. Kinematic simulations are executed to demonstrate the target of design.
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Pramudita Wid, Wimba, Aufar Syehan, and Danardono Agus Sumarsono. "Kinematic Analysis of Triple Ball Tie-rod in Ackermann Steering and Tilting Mechanism for Tricycle Application." E3S Web of Conferences 130 (2019): 01038. http://dx.doi.org/10.1051/e3sconf/201913001038.

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Nowadays, a concept of tilting three-wheel vehicle is introduced, one of which is the electric tilting tricycle to provide an alternative mode of transportation. Some of the tilting tricycle design usinga tadpole trike configuration and it needs an adequate steering system that can be synergized with tilting mechanism. The steering mechanism follows the Ackermann steering geometry. Usage of Ackermann geometry means applying a mechanism of trapezoidal four-bar linkage to the tricycle. To create and maintain the simple trapezoid shape, Triple Ball Tie-rod model, a single rod which supports three ball joints, is proposed. Since the capabilities of the model are yet to be proven, this research evaluates the usageof a tie-rod model to find out its capabilities to support the works of the steering mechanism of the tricycle. The measurements are conducted after the simulation of the 3D model to extract some data such as maximum lean angle and inner and outer steering angles. Another simulation using regular tie-rod model also conducted with the same method for comparison purposes. The results of the study are maximum allowed tilting angle and generated Ackermann steering angles. Each designed models have their respectiveadvantages.
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Tseng, Din Chang, Tat Wa Chao, and Jiun Wei Chang. "Image-Based Parking Guiding Using Ackermann Steering Geometry." Applied Mechanics and Materials 437 (October 2013): 823–26. http://dx.doi.org/10.4028/www.scientific.net/amm.437.823.

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An image-based parking guiding system is proposed to help drivers to park their cars into parking space. The proposed system only relies on an embedded hardware and a wide-angle camera to capture images for analysis. The proposed system needs no steering sensor; itis a money-saved technique; moreover, it is suitable for used cars and after-market usage. The input image is first transformed into a top-view image by a transformation matrix of homography. Then corner feature points on two continuous images are extracted to match each other. The feature-point pairs are further pruned by a least-square error metrics. The remained feature-point pairs are then used to estimate the vehicle motion parameters, where a coordinate transformation model is used to model and simulate the Ackermann steering geometry to describe the vehicle motion. At last, the vehicle trajectory is generated based on the vehicle motion parameters and the parking guiding lines are drawn according to the vehicle trajectory.
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Fahey, S. O’F, and D. R. Huston. "A Novel Automotive Steering Linkage." Journal of Mechanical Design 119, no. 4 (December 1, 1997): 481–84. http://dx.doi.org/10.1115/1.2826393.

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This brief outlines results of a numerical study involving a novel mechanism called the Fahey eight-member mechanism (FEMM), that has application to automotive steering. This mechanism is considered in terms of a planar kinematics steering model. We derive the governing kinematics and compare results between a synthesized FEMM and two synthesized Ackermann-type steering linkages. Results suggest that FEMM better approximates ideal steering geometry, and could allow an extended range of motion for moderate speed operations.
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Shi, Chang Zheng, Zhong Xiu Shi, and Tian Tian Wang. "Design of Steering Trapezoidal Mechanism for FSC Racing Base on Matlab." Advanced Materials Research 647 (January 2013): 885–90. http://dx.doi.org/10.4028/www.scientific.net/amr.647.885.

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The design of steering trapezoidal mechanism is one of the important aspects of the vehicle steering system. Every parameterin steering trapezoidal has significant influences on the steering performance, stability and tire service life of the vehicle.Based on the analysis of the relationship of the inside and outside wheel angle by analytic method, Matlab software can be used to design FSC racing steering trapezoidal mechanism. Considering the conditions of the automobile race,the corresponding parameter of the steering trapezoid is designed to make the relationship of the l wheel angle close to Ackermann geometry relationship, which reduces the wear of tires, ensuring good steering performance and holding the road so well.
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Guo, Cui Xia, Kang Liu, and Wen Ling Xie. "Optimal Design of Basic Parameter of Disconnected Steering Trapezoid." Advanced Materials Research 424-425 (January 2012): 334–37. http://dx.doi.org/10.4028/www.scientific.net/amr.424-425.334.

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In the design of disconnected steering trapezoid, the Fmincon function of MATLAB optimization toolbox is used to optimize its basic parameters. First, establish the optimal mathematical model. Second, obtain wheel angle curve of inside and outside steering by least-squares fitting. Finally, compare the curve with the ideal Ackerman geometric curve to get the optimization parameters of disconnected steering trapezoid. The example of optimized design validated that the actual curve of deflection angle of the both sides of steering wheel was almost close to perfect Ackerman geometry curve, it ensures the steering of wheel do pure rolling in the common conditions, which reduce tire wear
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Shen, Bin, and P. K. Ji. "The Application of AD Theory in the Study of Active Steering System." Materials Science Forum 697-698 (September 2011): 636–41. http://dx.doi.org/10.4028/www.scientific.net/msf.697-698.636.

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A new type of steering system so called Ackerman active steering system is put forward through combining the active steering with Ackerman geometry theory. The application of axiomatic design concepts to the steering system design is presented. The fundamental function requirements and the relative design parameters of desirable steering systems are introduced according to the trend of steering system evolution. The uncoupling control system is proposed and the simulation is conducted to verify the concept. The result shows that the coupled system can be converted into an uncoupled one via further design on control system.
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Moldovanu, D., A. Csato, and N. Bagameri. "Study regarding the implementation of an Ackerman steering geometry in MATLAB." IOP Conference Series: Materials Science and Engineering 568 (September 17, 2019): 012092. http://dx.doi.org/10.1088/1757-899x/568/1/012092.

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Borrero-Guerrero, Henry, Rafael Bueno-Sampaio, and Marcelo Becker. "Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot." Lámpsakos, no. 7 (June 16, 2012): 31. http://dx.doi.org/10.21501/21454086.842.

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This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.
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Dissertations / Theses on the topic "Ackermann steering geometry"

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Fryč, Martin. "Ovládání robota s Ackermannovým podvozkem." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2017. http://www.nusl.cz/ntk/nusl-363743.

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In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.
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Conference papers on the topic "Ackermann steering geometry"

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Mitchell, Wm C., Allan Staniforth, and Ian Scott. "Analysis of Ackermann Steering Geometry." In Motorsports Engineering Conference & Exposition. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 2006. http://dx.doi.org/10.4271/2006-01-3638.

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Plecnik, Mark M., and J. Michael McCarthy. "Design of a 5-SS Spatial Steering Linkage." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71405.

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This paper presents the kinematic synthesis of a steering linkage that changes track, wheelbase, camber, and wheel height in a turn, while maintaining Ackermann geometry. Each wheel is controlled by a 5-SS platform linkage, which consists of a moving platform connected by five SS chains to the vehicle chassis. Ackermann steering geometry ensures all four wheels will travel on circular arcs that share the same center point. S denotes a spherical or ball-in-socket joint. The kinematic synthesis problem is formulated using seven spatial task positions. The procedure computes the SS chains that guide the platform through the seven task positions, and examines all combinations of five that form a single degree-of-freedom linkage. A kinematic analysis identifies the performance of each design candidate, and eliminates functional defects. In the design process, the task positions are modified randomly within constraints in order to find a useful mechanism design. Mechanisms are deemed useful if they travel smoothly through all seven task positions. Upon analyzing 1000 sets of task positions, only 10 useful mechanisms were found. A second iteration produced 22 useful mechanisms from 1000 task sets. An example of the design of a steering linkage is presented. A video of this linkage can be seen at http://www.youtube.com/watch?v=hEvbDiyQMiw.
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Sancibrian, Ramon, Ana De-Juan, Pablo Garcia, Fernando Viadero, and Alfonso Fernandez. "Optimal Design of Steering Mechanisms in Road Vehicles." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34422.

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This paper deals with the design of steering mechanisms in road vehicles. With this aim, the kinematic models of three types of steering linkages are considered and Ackermann steering geometry is used to define the objective function. The proposed method uses a dimensional synthesis technique based on local optimization to obtain the dimensions of the links. The problem is formulated as function generator synthesis, where the inner wheel is supported by the input link and the output link is supported by the outer wheel. The formulation presented in this paper was developed by the authors and it is capable of considering the necessary accuracy conditions in the design of this kind of linkage. Three examples are shown to illustrate the application of the method.
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Min Wan Choi, Jun Seok Park, Bong Soo Lee, and Man Hyung Lee. "The performance of independent wheels steering vehicle(4WS) applied Ackerman geometry." In 2008 International Conference on Control, Automation and Systems (ICCAS). IEEE, 2008. http://dx.doi.org/10.1109/iccas.2008.4694549.

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Wang, Ya, and Dennis Hong. "Finding the Shortest Path for a Mobile Robot With Two Actuated Spoke Wheels Based on Variable Kinematic Configurations." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28987.

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Strategies for finding the shortest path for a mobile robot with two actuated spoke wheels based on variable kinematic configurations are presented in this paper. The optimal path planning strategy proposed here integrate the traditional constrained path planning tools and the unique kinematic configuration spaces of the mobile robot IMPASS (Intelligent Mobility Platform with Actuated Spoke System). IMPASS utilizes a unique mobility concept of stretching in or out individually actuated spokes in order to perform variable curvature radius steering using changing kinematic configuration during its movement. Due to this unique motion strategy, various kinematic topologies produce specific motion characteristics in the way of curvature radius-variable steering. Instead of traditional differential drive or Ackerman steering locomotion, combinational path geometry methods, Dubins’ curve and Reeds and Shepp’s curve are applied to classify optimal paths into known permutations of sequences consisting of various kinematic configurations. Numerical simulation is given to verify the analytical solutions provided by using Lagrange Multiplier.
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Yu, Zitian, and Junmin Wang. "A New Method in Estimating Vehicle Center of Gravity Position Parameters Based on Ackermann’s Steering." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9674.

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The determination of vehicle’s center of gravity position is an important but challenging task for control of advanced vehicles such as automated vehicles, especially under daily usage condition where the system configurations and payload condition may change. To address this problem, a new method is proposed in this paper to estimate the vehicle’s 3-dimensional center of gravity position parameters without relying on detailed suspension configuration parameters or lateral tire force models. In the estimation problem, the vehicle’s planar dynamic equations are synthesized together to reduce the number of unknown lateral tire forces, then the condition of Ackermann’s Steering Geometry can be found to eliminate the influence of the remaining unknown front wheel lateral tire forces. When the unknown tire forces are cancelled, the recursive least squares (RLS) regression technique is used to identify the 3-dimensional center of gravity position parameters. The vehicle model with the sprung mass modeled as an inverted pendulum is developed to assist the analysis and conversion of sensor measured signals. Simulations conducted in a high-fidelity CarSim® vehicle model have demonstrated the capability of this proposed method in estimating the vehicle’s center of gravity position parameters.
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