Page Comparison

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• It was found the most optimal way to achieve perfect Ackerman is to align the steering arm at the same angle as the line that connects the intersection of the track and wheelbase to the middle of the back wheelbase line.

• Model of Ackerman can be found: GrabCAD\MSXIV\Development\Dynamics\Steering

  • In the file “Ackerman 2D model” or “Overlay”.

  • Overlay contains the master sketch with the Ackerman model.

• ~85~88.6mm 67mm of travel in rack of model when at perfect Ackerman (~27 degrees).

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Overlay model with wheels turned at 26 degrees.

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Sketch of column, circled yellow lines is orientation of rack straight vs angled.

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Rack mount with screws shown.

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Side view of mount, rack is tilted 15 degrees.

Interference Check

• Found in the MAX UP and MAX DOWN configurations in ASSEM-Dynamics.

• Centerlink is fixed to move only horizontally, there is a distance mate which sets the centerlink right plane 90mm (max travel) from the right plane of the assembly.

• See Video below.

  Interference.mp4

Steering Intro Spring 2020

Link

Finalized CAD (May 30, 2020)

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Bump Steering Characteristics

Note, a travel of 90mm was used for convenience.

• Bump steer was characterized using mates of an assembly between the upright and steering system.

• The upright was moved up or down to simulate moving past a bump

• The centerlink was moved 90mm to simulate the largest angles the wheels would be allowed to turn at

• The above chart is used to compare the difference in wheel angles when a bump is encountered vs the upright at a neutral position

• The spindle face was measured against the right plane to obtain measurements

• As can be seen, the difference in wheel angle is trivial

DRI