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Id-814
I. Introduction
It is essential to decide appropriateness of special
bushes, which are used at various joints of suspension.
This appropriateness of special bushes is based on the
steering performance. Steering performance depends on
the position of kingpin axis. Depending on the position of
kingpin axis caster angle, camber angle, kingpin angle and
steer angle of four wheel vehicle is decided. Experimental
setup is also proposed evolved to locate these angles. On
the basis of six include angles of this four bar chain SCCS
position of kingpin axis is determined.
Joint variation can be acertained using the
proposed experimental Testrig. Kinematic analysis of
steering geometry can be decided based on behavior of
front suspension [1]. Proposed experimental setup can
measure the corresponding angles of steering geometry.
P.N.Belkhode
Lecturer in Mechanical Engg. ,
PIET Nagpur Maharashtra, India
The important element of a steering system consists
of linkage and geometry associated with the steer rotation
axis at the road wheel. This geometry affects the overall
performance of vehicle. Refering figures 1 &2.
C
A
C
O2
Kingpin Axis
Caster Angle
Center of Tire
Contact
*E-mail: jpmodak@yahoo.co.in
E-mail: pramodb@rediffmail.com
O1
Kingpin Inclination
Angle
Kingpin Offset at the Ground
Id-814
10 0 0
01 0 1
0
0
0 1 di
00 0 1
cos
sin
i-1
Ai
i
i
cos i -sin 0 0
sin i cos i 0 0
1 0 0 ai
0100
ii
1 0
1 0
0010
0 1
0001
0 sin
0 0
0 cos i -sin i 0
cos
0
-cos
sin
sin
sin
ai cos
cos
cos
- sin
cos
ai sin
sin
cos
di
z1
a
s
x1
O1
X
Fig 4: Relation between our geometric parameters
O1, O2
11
2
O1
10
L1
12 L 4
O2
13
L2
L3
15
Fig 5: 3 Dimensional four bar chain of front suspension
under consideration.
0
1
z1
z1
x1
y1
y1
y1
O1
Id-814
x1
z1
z1
y1
x1
O2
x1
0
0
2 C 2
A Z1
= 00
=0
a = L3
a = L4
s=0
s=0
B Z1
= 1800
O1 Z1
= 900
02 Z1
= 1800
= 00
2 C2
-S2
T sph, O2 =
= 2700
0
09
-1
0
-1
09
0
0
0
25.4
0
1
1
1
0
A2 = 1
0
0
-S 1
C 1
1 S1 r1 C 1S1
1 S1
C1
0
0
r1 S 1S1
r1 C1
s = -L 4
B Z1
O1 Z1
= 900
O2 Z1
1 C1
-S1
T sph, O1 =
a=X
s=0
A Z1
1 C 1
at every joint
a = L1
0
91
0
0
0
90
1
0
6.35
0
-30.4
1
-S 2
C 2
2 S2
2 S2
C1
0
0
r2 C 2S2
r2S 2S2
r2 C2
T cylindrical
-S
C
0
0
0
r C
0
0
1
r S
T cyl, A
C 3
S 3
0
-S 3
C 3
0
0
0
0
1
r3 C 3
r3 S 3
d1
A3
-1
09
=
0
0
0
09
-1
0
0
-91
0
0
-38.1
0
0
1
-1
3
0
A0 = 9
0
0
0
9-1
0
0
0
90
1
0
-33.0
0
0
1
T cyl, B
C 4
S 4
0
-S 4
C 4
0
0
r4 C 4
0
0
1
r4 S 4
d2
Id-814
0
0
-1
0
O1
TA =
0
0
-1
0
0
0
r1 C 1S1
r1 S1S1
r1 C1
1
0
1
0
0
TA =
0
0
0
0
1
0
- r3 C 3
- r3 S3
d1
1
-1
O2, O1, A
Bx =
By =
Bz =
0
0
0
-1
-1 0
0 0
TB =
0
0
r2 C 2S2 r4 C 4
r2 S 2S2 + d2
r2 C2 + r4 S4
1
r2 C 2S2 r4 C 4
r2 S 2S2 + d2
r2 C2 + r4 S4
Position of Joint B
r2 = L3 = 38.10 cm
d2 = X = 6.35 cm
r4 = L4 = 30.48 cm
0
O2, O1, B
0
0
-1
0
-1 0
0 0
TA =
0
0
Ax = r1 C 1S1 d1
Ay = r1 S 1S1 r3 C 3
Az = r1 C1 + r3 S3
r1 C 1S1 d1
r1 S 1S1 r3 C 3
r1 C1 + r3 S3
1
Position of Joint A
Fig. 6 : Vehicle reference frame
r1 = L1 = 25.40 cm
d1 = X = 6.35 cm
r3 = L4 = 30.48 cm
0
O2
TB =
0
0
0
0
-1
0
-1
0
0
The ground fixed reference frame with the axis x0, y0,
z0 and vehicle fixed reference frame the xF axis points
forward, the yF axis to the left and the zF axis upward. The
wheel rotates around an axis which is fixed to the wheel
carrier. The reference frame C is fixed to the wheel
carrier. In design postion its xC, yC and zC are parallel to
the corresponding axis of vehicle fixed reference frame F
[4].
C: Kingpin axis Location:
Zc
r2 C 2S2
r2 S2S2
r2 C2
1
1
A
TB =
0
0
0
1
0
0
0
0
1
0
r4 C 4
r4 S4
-d2
1
h
Joint A
Kingpin Axis
Joint B
c
f
Xc
Fig. 7 : Wheel rotation axis
Yc
Id-814