UNIVERSITY OF CENTRAL PUNJAB

Ackerman Steering
Principle

6/6/2014

Group Members

Ahmad Husnain 0058

Amir Mehmood 2070
Haseeb Amin 2059
 Usman Aslam 0069Ackerman Steering Principle

The diagram below outlines the important geometry in determining the motions of
the steer wheels in a vehicle that uses Ackerman steering geometry. We have two
components moving together the left and right steering knuckles, but the relationship
between their motions changes as we move them.

D
King Pin Center to Center Distance

Ti
e
Ro
d
Le
ng

Ackerman
B Angle
A

RAA
Wheel Base

The important distances and angles should be initially considered. The two most
fundamental distances are the wheel base of the car (l) and the front wheels center to
center distance ( w ) . If we draw two lines representing the wheelbase and the distance
from the cars center line to one of the front wheel, we can make a triangle. By design,
the line that goes through the centers of the Ackerman arm forms the hypotenuse of this
triangle. See
below.
C
Ackerman Angle

TAN
(Angle B) =
W\2

Front Wheels
B
A Distance / 2

L
Wheelbase
 TAN-1 w / 2 = Angle B
L

We can pick distances, turn the crank and find Angle B and by extension, the Ackerman
Angle. We selected a wheel base (L) of 120 cm and front wheels distance (w) of 50cm.
Angle B will be

TAN -1 50/ 2 = Angle B

120

Angle B = 11.76 12

So, the Ackerman Angle is 12 degrees. We can use this to find the length of the tie rod.

D
We assume the the radius of the Ackerman arm as 10cm.

10 * SIN 12 = Y

Y = 2.079 2.0 cm

LT = DKC 2 x RAA x SIN (Ackerman Angle)1

Where:

LT is the length of the tie rod

DKC is the distance between the front wheels
RAA is the radius of the Ackerman Ar m

LT = 50 2*10*SIN 12

LT = 50 4

LT = 46 cm

Now to determine the relative angular displacement of inner tire to the outer tire, when
the inner tire is steered at an angle of 20 .
D
C AA Point Bs X coordinate = RAA x COS(AA + SAL)

Point Bs Y coordinate = RAA x SIN(AA + SAL)

k
Where:
RAA is the Ackerman Arm Radius
AA is the Ackerman Angle

SAL is the steering angle of the left wheel. Zero degrees

is straight ahead.
B Positive values
D are a left turn, negative values are a right
A
turn.

Point Bs X coordinate = 10 * COS(12 + 20)

E

5.3

8.5

AA

D
C

B
A

Point Bs Y coordinate = 10 * SIN(12 + 20)

Point Bs X coordinate = 8.5

 B
E 5.3

8.5

AA

D C

k

Point Bs Y coordinate = 5.3

DE = AD AE

DE = 50 5.3

DE = 44.7
 TAN k = EB/ED
TAN -1 (EB/ED) = k

TAN -1 (8.5/44.7) = k

K=10.77

Now finding (pronounced gamma).

COS = BD2 + DC2 BC2

2(BD)(DC)
Applying Pythagoras theorem to find BD
BD= 45.5 cm

COS-1 (45.5)2 + (10)2 (46)2 =

2(45.5)(10)

Crunching the numbers

86.5 =

Now if we add up angle k, and the Ackerman angle, well have the tires steer angle
from the line that connects the two kingpins. To get the steer angle, we have to subtract
90. The formula is:

Steer Angle = k + + Ackerman Angle - 90

Steer Angle = 10.77 + 86.5 + 12 - 90

Steer Angle of the other wheel = 19.3

i > o

The length of the Tie rod can be varied to observe the changes in
the Ackerman Angle and subsequently the changes in inner and
outer steer angle. The length of the tie rod is an important factor to
be considered when designing the steering mechanism.
In the prototype the length of the tie rod can be varied between
44.5-41.5 cm.

The ackerman angle at 44.5 cm tie rod is 15.37

The ackerman angle at 41.5 cm tie rod is 23

Conclusively the relative variation in the outer and inner steer

angle can be seen at different ackerman angle in the graph below.