‫جامعة القصيم‬ Qassim University

‫كلية الهندسة‬ Facility of Engineering

Mechanical Engineering Dpt.
‫قسم الهندسة الميكانيكية‬

ME 363
Mechanical of Machinery Lab
Semester: 422

Report #2: Ackermann Steering Demonstrator

BY

Team number 1

AYOUB MOHAMED
ID:391115642

Team Members, ID ABDULAZIZ SULAIMAN

and Names ID:391108063

MOHAMMED AL-SUHAIBANI
ID:391108293

Submitted to Dr. Hussein Zain

Date 15/2/2021
 Table of Contents
 Abstract.............................................................................1
 1- Introduction..................................................................1
 1-1 Applications...........................................................2
 1-2 Theory.........................................................................3
 1-2-1 Mathematical Equations................3
 2- Experiment procedure..................................................4
 3- Method and Equipment’s.............................................4
 4- Result and Discussion...................................................5
 4-1 Theoretical analysis........................................5
 4-2 Experiment analysis........................................6
 5- Conclusion....................................................................7
 Reference..........................................................................8
ME363: Mechanical of Machinery lab Team#1 {Ayoub, Abdulaziz, Mohammed}
Report#2: Ackermann Steering Demonstrator Semester 422

• Abstract
In this report we will talk about Ackermann Steering Demonstrator, the
purpose of this experiment is to compare the theoretical results with the
experimental results to see the differences between them and to explain
the special features of it, determine the advance angle and finally to
determine the steering error.

• 1- Introduction
Ackermann Steering Geometry is a geometric arrangement of linkages in
the steering of a car or other vehicle designed to solve the problem of
wheels on the inside and outside of a turn needing to trace out circles of
different radius, and in this experiment, we will discuss some applications
of Ackermann steering geometry then we will provide some equations,
experiment procedures, Equipment’s, results and discussion, and finally a
conclusion to summarize our work.

The objectives of
this experiment are to:
1. To explain the special features of the Ackermann steering
mechanism
2. To determine the advance angle of a steering trapezium
3. To determine the steering error as a function of the steering angle
with varying steering geometry

1
ME363: Mechanical of Machinery lab Team#1 {Ayoub, Abdulaziz, Mohammed}
Report#2: Ackermann Steering Demonstrator Semester 422

 1-1 Applications

 1-2 Theory

The Ackermann equations dictate the relationship between the turn angle of the inner
wheel and the outer wheel in a turn and the radius of turn of a vehicle. They are based
on the improved Ackermann geometry. The explanation below shows the general
equation and the derivations of it we used in our design.

M
Cot(αo) – Cot(αi) = I

Figure 1: Mathematical drawing for Ackermann Steering Apparatus. [1]

 Where:
I. α° : outside wheel angle in °
II. αi: inside wheel angle in °
III. m: swivel pin spacing in mm
IV. I: wheelbase in mm

2
ME363: Mechanical of Machinery lab Team#1 {Ayoub, Abdulaziz, Mohammed}
Report#2: Ackermann Steering Demonstrator Semester 422

 1-2-1 Mathematical Equations

M
Cot(αo) – Cot(αi) = I

Original equation

1
 We can make it easy to calculate by making cotθ egaul to tanθ so
it will be:

1
αo=ta n−1
[ m
+
1
I tan αi ]
Calculate equation

• 2- Experiment procedure
I. Bench top experiment on the Ackermann steering mechanism
II. King pin spacing 465 mm
III. Steering lock angle ±50°, scale graduations 1°
IV. Split track rod, length can be individual adjusted
V. Steering rod made of aluminum
VI. lxwxh 630x280x50mm

3
ME363: Mechanical of Machinery lab Team#1 {Ayoub, Abdulaziz, Mohammed}
Report#2: Ackermann Steering Demonstrator Semester 422

• 3- Method and Equipment’s

4 2 1
7

3
5

Figure 1: Ackermann Steering Apparatus

 Where:
I. Pointer
II. Steering arm
III. Tracking rod
IV. Steering linkage
V. Lever
VI. Knurled screw
VII. Adjusting nut

4
ME363: Mechanical of Machinery lab Team#1 {Ayoub, Abdulaziz, Mohammed}
Report#2: Ackermann Steering Demonstrator Semester 422

• 4- Results and Discussion

 4-1 Theoretical analysis
αi set in 0 5 10 15 20
αo set in ˚ 0 4.697 8.8655 12.605 16
Error calculated in ˚ 0 0.303 1.1345 2.395 4
Max error is 4˚

 4-2 Experiment analysis

αi set in 0 5 10 15 20
αo set in ˚ 0 4.5 9 14 18
Error calculated in ˚ 0 0.5 1 1 2
Max error is 2 ˚

Ackermann Steering mechanism

20
18
16
14
outer wheel angle

12
10
8
6
4
2
0
0 5 10 15 20 25
inner wheel anglee

Theoretical Experiment

Figure 1: Ackermann Steering Apparatus Graph

• 5- Conclusion

5
ME363: Mechanical of Machinery lab Team#1 {Ayoub, Abdulaziz, Mohammed}
Report#2: Ackermann Steering Demonstrator Semester 422

• Reference