Mechanical Peoject Final Report

VISVESVARAYA TECHNOLOGICAL UNIVERSITY
Jnana Sangama, Belgaum-590014
A PROJECT REPORT
ON
“FABRICATION FOR FOUR_WHEEL STEERING
MECHANISM FOR PARALLEL PARKING”
Submitted in the partial fulfilment for the requirement of 8 th Semester
BACHELOR OF ENGINEERING
IN
MECHANICAL ENGINEERING
Submitted By
MOHAMMAD SHIFAZ(1BC14ME009)
TEJ PRATAP SINGH(1BC15ME010)
YASHVANTH K(1BC16ME004)
Under the Guidance of
Dr CHANNANKAIAH,Phd
HOD. Dept. of ME,
BCET
DEPARTMENT OF MECHANICAL ENGINEERING

BANGALORE COLLEGE OF ENGINEERING & TECHNOLOGY
Bangalore-560099
1
DEPT OF ME,BCET
BANGALORE COLLEGE OF ENGINEERING & TECHNOLOGY
Department of Mechanical Engineering
Bangalore- 560099
CERTIFICATE
This is to certify that the Project work entitled “HANDWRITTEN DIGIT RECOGNITION” is a
bonafide work carried out by TEJ PRATAP SINGH, YASHVANTH K AND MOHAMMED SHIFAZ
and in partial fulfilment for the requirement of 8th Semester, Bachelor of Engineering in Mechanical
Engineering of Visvesvaraya Technological University, Belgaum during the year 2019-20. It is
certified that all corrections / suggestions indicated for the internal assessment have been incorporated in
the report. This report has been approved as it satisfies the academic requirements in respect of project
work prescribed for Bachelor of Engineering Degree.
Signature of the Seminar Signature of HOD Signature of Principal

Guide
Dr.CHANNANKAIAH, PhD Dr.CHANNANKAIAH, PhD
Dr.CHANNANKAIAH, PhD
Dept., of ME BCET
Dept., of ME
2
DEPT OF ME,BCET
3
DEPT OF ME,BCET
ACKNOWLEDGEMENT
Completing a project right on schedule is no doubt a demanding and daunting task.
The satisfaction and euphoria that accompanies the completion of any task would be
incomplete without mentioning people who made it possible. Many are responsible for the
knowledge and experience we have gained during this project work.
We express our sincere gratitude to Dr.CHANNANKAIAH, PhD
, Professor and Head, Department of Mechanical Engineering, Banglore college of

Engineering and Technology , Bengaluru for permitting us to do our project work on campus.
We express our sincere gratitude to Dr.CHANNANKAIAH ,phd, Principal,

Banglore college of Engineering and Technology , Bengaluru for allowing us to do our
project work in the college.
Our acknowledgment would be incomplete if we do not thank our parents for their
encouragement and support throughout our educational life. Finally, we extend our gratitude
to all our friends and to all those who have helped us in the completion of the project.
MOHAMMAD SHIFAZ
TEJ PRATAP SINGH
YASHVANTH K
4
DEPT OF ME,BCET
ABSTRACT
Production cars are designed to under steer and rarely do they over steer. If a car could
automatically compensate for an under steer/over steer problem, the driver would enjoy
nearly neutral steering under varying operating conditions. Four-wheel steering is a serious
effort on the part of automotive design engineers to provide near-neutral steering. Also in
situations like low speed cornering, vehicle parking and driving in city conditions with heavy
traffic in tight spaces, driving would be very difficult due to vehicle’s larger wheelbase and
track width. Hence there is a requirement of a mechanism which result in less turning radius
and it can be achieved by implementing four wheel steering mechanism instead of regular
two wheel steering.
In our project a prototype automobile model is designed and fabricated. Individual motor is
attached to each wheel for power transmission. Sprocket is attached to each wheel which in
turn connected to each other through a roller chain. A steering motor is attached to one of the
sprocket which rotates the wheel to 90 degree when power is supplied to it.
DESIGN DEVELOPMENT AND FABRICATION OF FOUR WHEEL STEERING MECHANISM FOR PARALLEL PARKING
CONTENTS
Declaration Certificate
Acknowledgement
Abstract
List of figures
List of tables
Page no
Chapter 1 Introduction
1.1. Parallel parking
1.2. Background Theory
1.3. Scope of the Project
1.4. Advantages
Chapter 2 Problem and Definition
Chapter 3 Objectives of the Project
Chapter 4 Literature Review

4.1. The current Parking system
4.2. Current development and modification
Chapter 5 Methodology
5.1. Methodology
5.2. Three main stages of project
5.2.1. Theoritical Design
Chapter 6 Parts used

6.1. Steering motor
6.2. Power transmitting Motor
6.3. Bearing
6.4. Sprocket
6.5. Wheel
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Department of Mechanical Engineering,Banglore college of Engineering and Technology.
6.6. Chain
6.7. Base plate
6.8. Bush
6.9. Wheel Plate
6.10. Battery
6.11. 60 RPM centre shaft DC Motor
Chapter 7 Drawing, Drafting of different parts used in assembly

7.1. Holding Plate
7.2. Holding bush
7.3. Wheel supporting plate
7.4 Bearing holding Plate
7.5. Motor Shaft
Chapter 8 Evaluation of prototype model

8.1. Peformance measure
8.2. Battery rundown test
Chapter 9 Cost estimation
Chapter 10 Conclusion
10.1. Result
10.2. Conclusion
Chapter 11 Future work
Reference
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LIST OF FIGURES
Fig No Description Page no

1.1 Block diagram for parallel parking system.
1.2 Method of lane changing
5.1 2-D and isometric view of prototype model
5.2 2-D and isometric view of steering wheel motor assembly
5.3 Steering wheel motor assembly
5.4 Remaining wheel motor assembly
5.5 Assembled prototype model
5.6 Side view of the assembled model
6.1 Steering motor
6.2 Power transmitting motor
6 .3 Deep grooved ball bearing
6.4 Sprocket
6.5 Rubber wheel
6.6 Metallic roller chain
6.7 Bush
6.8 Wheel plate
6.9 Battery
7.1 Holding plate
7.2 Holding bush
7.3 Wheel supporting plate
7.4 Bearing holding plate
7.5 Motor shaft
7.6 Motor plate
7.7 Base plate, Ply-wood
LIST OF TABLES
Table no. Description page no

6.1 Motors’s data can vary by ±10%
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8.1 Battery rundown test table.

9.1 Cost estimation table
4
0
CHAPTER 1
INTRODUCTION
Parking is an ever-growing challenge around the world as number of vehicles is continuously

increasing. Parking availability is one of the most increasing problems. Usual parking
technique results in delay in parking time and waste of parking space.
Four wheel steering is a method used in automobile industry for the effective turning
of the Vehicle increases the manuverbility. In a typical front wheel steering system the rear
wheels do not turn in the direction of the curve and thus reduces the efficiency of the
steering.To rectify this problem parallel parking control system can be implemented.
Parallel parking is a technology which helps the driver to park their vehicle between
two parked vehicles by 90 degree steering mechanism. This is possible only when sufficient
place is available between two parked vehicles.
Also in situations like low speed cornering, vehicle parking and driving in city
conditions with heavy traffic in tight spaces, driving would be very difficult due to vehicle’s
larger wheelbase and track width. Hence there is a requirement of a mechanism which result
in less turning radius and it can be achieved by implementing 90 degree steering mechanism
instead of regular two wheel steering or four wheel steering.
At low speed wheel movement is pronounced, so that rear wheels are steered in the
opposite direction to that of front wheels. At high speed, when steering adjustments are
subtle, the front wheels and the rear wheels turn in the same direction.
By changing the direction of therear wheels there is reduction in turning radius of the
vehicle which is efficient in parking, low speed cornering and high speed lane change.
In city driving conditions the vehicle with higher wheelbase and track width face
problems of turning as the space is confined, the same problem is faced in low speed
cornering. Usually customers pick the vehicle with higher wheelbase and track width for their
comfort and face these problems, so to overcome this problem aconcept of 90 degree steering
mechanism can be adopted in the vehicles.
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Compared with a conventional two wheel steering system, the advantages offered by a 90
degree steering wheel system include:
1. Superior cornering stability.
2. Improved steering responsiveness and precision.
3. High speed straight line stability.
4. Notable improvement in rapid lane changing maneuvers.
5. Smaller turning radius and tight space maneuverability at low speed.
6. Relative wheel angles and their control.
1.1. Parallel parking
Zero steer can significantly ease the parking process due to its extremely short turning
footprint. This is exemplified by the parallel parking scenario which is common in foreign
countries and is pretty relevant to our cities. Here a car has to park it between the two other
cars parked on the service lane. This maneuver requires a three way movement of the vehicle
and consequently heavy steering inputs. Moreover to successfully park the vehicle without
incurring any damage at least 1.75 times the length of the car must be available for parking a
two wheeled steer car.
As can be seen clearly the car requires just about the same length as itself to park in the spot.
Also since the 360 degree mode does not require steering inputs the driver can virtually park
the vehicle without even touching the steering wheel. All he has to do give
Throttle and brake inputs and even they can be automated in modern cars. Hence such a
system can even lead to vehicles that can drive and park by themselves.
1.2. Background Theory
The most effective type of steering, this type has all the four wheels of the vehicle used for
steering purpose.
In a typical front wheel steering system the rear wheels do not turn in the direction of
the curve and thus curb on the efficiency of the steering. Normally this system is not been the
preferred choice due to complexity of conventional mechanical four wheel steering systems.
However, a few cars like the Honda Prelude, Nissan Skyline GT-R have been available with
four wheel steering systems, where the rear wheels turn by an angle to aid the front wheels in
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steering. However, these systems had the rear wheels steered by only 2 or 3 degrees, as their
main aim was to assist the front wheels rather than steer by themselves.
With advances in technology, modern four wheel steering systems boast of fully
electronic steer-by-wire systems, equal steer angles for front and rear wheels,
Figure:-1.1 Block diagram for parallel parking system.
Figure 1.2.Method of lane changing
1.3. Scope Of The Project
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 Easy to operate.
 It reduces the number of movement during parking.
 It utilizes maximum parking space and to reduce the parking time.
 Has large range of application in day to day life in vehicle systems.
 Wide range of application in industrial area.
 Widely used in coal mining for proper transportation purpose.
1.4. Advantages
 Cost effective and time efficient
 Reduces the risks
 Easy to construct and install
 Consumes less energy and is more efficient
 Increases the overall efficiency of the system
 Maximum utilization of parking space
 Superior cornering stability
 Improved steering responsiveness and precision
 High speed straight line stability.
 Notable improvement in rapid lane changing maneuvers.
 Small turning radius and tight space maneuverability at low speed.
 Relative wheel angles and their control.
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CHAPTER 2
PROBLEM AND DEFNITION
 Design and fabrication of 90 steering.
 To evaluate the performance of the vehicle.
 Minimize the movement of the vehicle for parking and lane changing.
 Minimize the cost of generation and installation.
Nowadays all vehicles uses two wheel steering system, but the efficiency of the two wheel
steering (2WS) vehicle is proven that it is still low compared to the four wheel steering
(4WS) system car. 4wheel system is better than 2wheel system in terms of turning radius..
So, this project is base on how to prove that the 90 degree is better than 4wheel steering
system and 2 wheel steering system.
A vehicle with higher turning radius face difficulty in parking and low speed cornering due to
its higher wheelbase and track width, but the passenger prefer the vehicle to be higher
wheelbase and track width as it gives good comfort while travelling. In this scenario 90
degree wheel steering will be effective as the turning radius will be decreased for the same
vehicle of higher wheelbase. In this project a benchmark vehicle is considered and 90 degree
wheel steering is implemented without change in dimension of the vehicle and reduction in
turning radius is achieved. For achieving reduction a mechanism is built which turns the
rearwheels opposite to the front wheels.
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CHAPTER 3
OBJECTIVES OF PROJECT
 Design development and fabrication of prototype model for four wheel steering
mechanism.
 Evaluation of prototype model under laboratory condition.
 Analysis of data and presentation.
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CHAPTER 4
LITERATURE REVIEW
4.1. The Current Parking System.
 While parking a lot of time is consumed in order to park the vehicle.
 Lot of maneuverability or turning is required for parking which consumes lot
of time and fuel as well.
 By looking at increasing number of automobiles and problem arise due to it
there should be some modification is required in automobile which minimizes
the chances of traffic jams and parking system.
4.2. Current Development and Modification in Automobile

The company Honda Prelude manufactured the first four wheel steering car and it defines
four wheel steering as the effect of the 4WS mechanism acting in this way was non-linear
steering. That is, the effective steering ratio varied from a low ratio at small steering angles,
to high ratio at large angles. The important data’s and information used for the development
of four wheel steering mechanism have been taken from following references.
1. U- Sok Chong, EOK Namgoong, seung-kisul :

Torque steering control of four wheel drive electric vehicle: The concept of a 4-wheel
drive system for an electric vehicles presented. This drive concept with four induction
motors, one driving each wheel, allows the omission of the rear axle including the
conventional differential gears. The drive has characteristics which can be compared with a
4-wheel steering system.
2. Jeongyun Cheong , WesubEom , Jangmyung Lee :

stability improvement for 4-wheel hybrid electric vehicle: Cornering stability of 4 wheel
drive hybrid electric vehicle has been analyzed and improved, where the front motor and the
rear motors are used to drive the vehicle.
3. Zhang Jian, Wang Shuang-shuan, Li Hua, Li Bin :

The sliding mode control based on extended state observer for skid steering of 4-wheel-drive
electric vehicle: Skid steering of 4-wheel-drive electric vehicles has good maneuverability
and mobility as a result of the application of differential torque to wheels on opposite sides.
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4. Sang Joon Lee, Sul S.K. :

An integral battery charger for 4-wheel drive electric vehicle: In this paper, a new phase
detecting method is proposed for PWM rectifiers and active filters considering distorted
utility conditions.
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CHAPTER5
METHODOLOGY
5.1. Methodology
 Literature survey on four wheel steering mechanism is done from various sources.
 The four wheel steering system model is build using CATIA and PROE software with
the help of designer and simulation is done to know proper turning of wheels.
 The four wheel steering model will be fabricated using motor, deep grove ball bearing
shaft and supporting structure.
 Then this model is analyzed for its maneuverability in mechanical workshop.
 Then a comparison is made between the CATIA model and physical model.
5.2. Three Main Stages of Project

 Theoretical Design
 Preparation of CATIA model for the desired prototype automobile.
 Preparing CAD model for some of the parts.
 Maintain the accurate dimension of the model.
 Mechanical Fabrication.
 Design and fabrication of parts for the model.
 Lathe and milling operation is done in order to get proper
dimension for the model.
 All the parts were assembled as the design in CAD model is
specified.
 Controller And power supply
 Proper wiring is done in which each wheel motor is connected to
wires for the power transmission.
 These wires are connected to momentary switches which controls
the motion and rotation of the wheel.
 Power is supplied through a battery.
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5.2.1. Theoretical Design
Figure 5.1.2-D and isometric view of prototype model.
Figure 5.2.2-D and isometric view of steering wheel motor assembly.
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5.2.2. Mechanical Fabrication and Assembly.
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Figure 5.3.Steering wheel motor assembly.
Figure 5.4.Remaining wheel motor assembly.
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Figure 5.5. Assembled prototype model
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Figure 5.6.Side view of the assembled model.
CHAPTER 6
PARTS USED
6.1. Steering Motor
Figure 6.1. Steering motor

A torque motor is a specialized form of electric motor which can operate indefinitely
while stalled, that is, with the rotor blocked from turning, without incurring damage.
In this mode of operation, the motor will apply a steady torque to the load (hence the
name). A torque motor that cannot perform a complete rotation is known as a limited
angle torque motor.
A common application of a torque motor would be the supply- and take-up
reel motors in a tape drive. In this application, driven from a low voltage, the
characteristics of these motors allow a relatively constant light tension to be applied to
the tape whether or not the capstan is feeding tape past the tape heads. Driven from a
higher voltage, (and so delivering a higher torque), the torque motors can also achieve
fast-forward and rewind operation without requiring any additional mechanics such as
gears or clutches. In the computer gaming world, torque motors are used in force
feedback steering wheels.
This motor will be bit noisy while running. For long life, this motor is not
recommended for application requiring dynamic torque of more than 6 kg-cm.
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Specification:
Speed-Rpm: 10 at 12V
Voltage: 4V to 12V
Stall torque: 45Kg-cm at maximum limited stall current of 4Amp.
Shaft diameter: 6mm
Shaft length: 18mm
Gear assembly: Spur
Brush type: Carbon
Motor weight: 180g
6.2. Power Transmitting Motor
Figure 6.2. Power transmitting motor

A machine consists of a power source and a power transmission system, which provides
controlled application of the power. Merriam-Webster defines transmission as an assembly of
parts including the speed-changing gears and the propeller shaft by which the power is
transmitted from an engine to a live axle. Often transmission refers simply to the gearbox that
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uses gears and gear trains to provide speed and torque conversions from a rotating power
source to another device
It is an electric motor that is incorporated into the hub of a wheel and drives it
directly.Hub motor electromagnetic fields are supplied to the stationary windings of the
motor. The outer part of the motor follows, or tries to follow, those fields, turning the
attached wheel. In a brushed motor, energy is transferred by brushes contacting the rotating
shaft of the motor. Energy is transferred in a brushless motor electronically, eliminating
physical contact between stationary and moving parts. Although brushless motor technology
is more expensive, most are more efficient and longer-lasting than brushed motor systems.
Specification:
Voltage-12v
Current- 2.5 amp
6.3. Bearing
FiguFig 6.3. Deep grooved ball bearing

A bearing is a machine element that constrains relative motion and reduces friction
between moving parts to only the desired motion. The design of the bearing may, provide for
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free linear movement of the moving part or for free rotation around a fixed axis; or, it may
prevent a motion by controlling the vectors of normal forces that bear on the moving parts.
The term "bearing" is derived from the verb "to bear" a bearing being a machine element
that allows one part to bear (i.e., to support) another. The most sophisticated bearings for the
most demanding applications are very precise devices; their manufacture requires some of the
highest standards of current technology.
6.4. Sprocket
Figure 6.4. Sprocket

A sprocket or sprocket-wheel is a profiled wheel with teeth or cogs that mesh with a
chain, track or other perforated or indented material. The name "sprocket" applies generally
to any wheel upon which are radial projections that engage a chain passing over it. It is
distinguished from a gear in that sprockets are never meshed together directly, and differs
from a pulley in that sprockets have teeth and pulleys are smooth. The word "sprockets" may
also be used to refer to the teeth on the wheel.
Sprockets are used in bicycles, motorcycles, cars, tracked vehicles, chainsaws and other
machinery to transmit rotary motion between two shafts where gears are unsuitable or to
impart linear motion to a track, tape etc. Early automobiles were also largely driven by
sprocket and chain mechanism, a practice largely copied from bicycles.
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Sprockets and chains are also used for power transmission from one shaft to another
where slippage is not admissible, sprocket chains being used instead of belts or ropes and
sprocket-wheels instead of pulleys. They can be run at high speed and some forms of chain
are so constructed as to be noiseless even at high speed.
Specification:
Dimensions - 70mm diameter
Material- Mild Steel
6.5. Wheel
Figure 6.5. Rubber wheel

A wheel is a circular component that is intended to rotate on an axial bearing. The wheel
is one of the main components of the wheel and axle which is one of the six simple machines.
Wheels, in conjunction with axles, allow heavy objects to be moved easily facilitating
movement or transportation while supporting a load, or performing labor in machines.
Wheels are also used for other purposes, such as a ship's wheel, steering wheel, potter's wheel
and flywheel.
Common examples are found in transport applications. A wheel greatly reduces friction
by facilitating motion by rolling together with the use of axles. In order for wheels to rotate, a
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moment needs to be applied to the wheel about its axis, either by way of gravity, or by the
application of another external force or torque.
Specification:
Diameter- 75mm
Material- mild steel and rubber.
6.6. Chain
Figure 6.6.matallic roller chain

Roller chain or bush roller chain is the type of chain drive most commonly used for
transmission of mechanical power on many kinds of domestic, industrial and agricultural
machinery, including conveyors, wire- and tube-drawing machines, printing presses, cars,
motorcycles, and bicycles. It consists of a series of short cylindrical rollers held together by
side links. It is driven by a toothed wheel called a sprocket. It is a simple, reliable, and
efficient means of power transmission.
6.7. Base Plate
It is a metallic plate which holds or guides the sub-assemblies together and at the same
time helps in the movement of the assembly. It also connects the main frame with the sub
assembly.
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6.8. Bush
Figure 6.7 Bush

A fixed or removable cylindrical metal lining used to constrain, guide, or reduce
friction.Itis an adapter threaded to permit joining of pipes with different diameters having
ends of unequal diameters, often with internal screw threads, used to connect pipes of
different sizes.
6.9. Wheel Plate
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Figure 6.8 Wheel plate.

It supports the wheel and connects it with wheel assembly.
6.10. Battery
Figure 6.9 Battery

An electric battery is a device consisting of one or more electrochemical cells that convert
stored chemical energy into electrical energy. Each cell contains a positive terminal, or
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cathode, and a negative terminal, or anode. Electrolytes allow ions to move between the
electrodes and terminals, which allows current to flow out of the battery to perform work.
Primary (single-use or "disposable") batteries are used once and discarded; the electrode
materials are irreversibly changed during discharge. Common examples are the alkaline
battery used for flashlights and a multitude of portable devices. Secondary (rechargeable
batteries) can be discharged and recharged multiple times; the original composition of the
electrodes can be restored by reverse current.
Specification
Power supply of 14.20 Volts
6.11.60 RPM Centre Shaft DC Motor

Product
Weight: 150 gms
60RPM Centre Shaft Economy Series DC Motor is high quality low cost DC geared motor. It
has steel gears and pinions to ensure longer life and better wear and tear properties. The gears
are fixed on hardened steel spindles polished to a mirror finish. The output shaft rotates in a
plastic bushing. The whole assembly is covered with a plastic ring. Gearbox is sealed and
lubricated with lithium grease and require no maintenance. The motor is screwed to the gear
box.
Although motor gives 60 RPM at 12V but motor runs smoothly from 4V to 12V and gives
wide range of RPM, and torque. Tables below gives fairly good idea of the motor’s
performance in terms of RPM and no load current as a function of voltage and stall torque,
stall current as a function of voltage.
Specifications
 DC supply: 4 to 12V
 RPM: 60 at 12V
 Total length: 46mm
 Motor diameter: 36mm
 Motor length: 25mm
 Brush type: Precious metal
 Gear head diameter: 37mm
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 Gear head length: 21mm

 Output shaft: Centred
 Shaft diameter: 6mm
 Shaft length: 22mm
 Gear assembly: Spur
 Motor weight: 100gms
Inside view of Centre Shaft Economy Series DC Motor
Motor performance in terms of RPM and no Motor performance in terms of stall torque
load current as a function of input voltage and stall current as a function of input voltage
Voltage (V) RPM (No Load) Current (A) Voltage Stall torque Stall Current
4 16 0.013 (V) (Kg/cm) (A)
5 21 0.014 4 3.440 0.403
6 28 0.014 5 4.020 0.516
7 36 0.016 6 4.966 0.618
8 42 0.0 7 5.762 0.715
9 47 0.019 8 6.772 0.820
10 52 0.020 9 7.912 0.922
11 59 0.022 10 8.557 1.006
12 64 0.024 11 9.030 1.115
12 9.352 1.203
Table 6.1. Motors’s data can vary by ±10%
Hardware Details:
ARDUINO Uno:
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Arduino
is a popular
programmable board used to create projects. It consists of a simple hardware platform as well
as a free source code editor which has a “one click compile or upload” feature. Hence it is
designed in way that one can use it without necessarily being an expert programmer (Kushner
1987). Arduino offers an open-source electronic prototyping platform that is easy to use and
flexible for both the software and hardware. Arduino is able to sense the environment through
receiving input from several sensors. It is also able to control its surrounding through
controlling motors, lights and other actuators.
The Arduino programming language that is based on the wiring and the Arduino
development environment that is based on the processing are used to program the
microcontroller found on the board (Banzi, 2005). Due to its open-source environment, one is
able to easily write and upload codes to the I/O board. It is also worth to note that Arduino
can be run on Linux, Mac OSX and Windows as its environment is written in Java
The Arduino Uno is a small, complete, and breadboard-friendly board based on
the ATmega328 (Arduino Uno 3.x) orATmega168 (Arduino Uno 2.x). It has more or less the
same functionality of the Arduino Duemilanove, but in a different package. It lacks only a
DC power jack, and works with a Mini-B USB cable instead of a standard one. The Uno was
designed and is being produced by Gravitech.
The Arduino Uno is a microcontroller board based on the ATmega328. It has 14

digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a
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16 MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset
button. It contains everything needed to support the microcontroller; simply connect it to a
computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.
The Arduino Uno can be powered via the USB connection or with an external power supply.
The power source is selected automatically. External (non-USB) power can come either from
an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by plugging a
2.1mm center-positive plug into the board's power jack. Leads from a battery can be inserted
in the GND and Vin pin headers of the POWER connector.
CHAPTER:-7
DRAWING, DRAFTING OF DIFFERENT PARTS USED IN ASSEMBLY
Figure 7.1. Holding plate
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Figure 7.2. Holding bush
Figure 7.3.Wheel supporting plate
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Figure 7.4. Bearing holding plate
Figure 7.5.Motor shaft.
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Figure 7.6. Motor plate
Figure 7.7 Base plate, Ply-wood
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CHAPTER 8
EVALUATION OF THE PROTOTYPE MODEL
8.1. Performance Measure
Working principle.
Steering system consist of four power transmission motor, one steering motor, four bearings,
four sprocket, one chain, four wheel and wooden base. Individually motors are connected to
each wheel for separate power transmission to respective wheels. These motors are connected
to a mild steel plates with the help of nut and bolt to the bearing. One rod connects the
bearing and sprocket for transmission of torque. These assembly are done individually for all
four wheels. Sprockets placed above the wooden block. All the four wheels are then
connected with individual sprocket and then all sprockets are connected through a chain.
When the power is transmitted through transmission motor it starts rotating the wheel and
vehicle starts moving and when the power is supplied to the steering motor it rotates the one
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wheel assembly. Due to the connection of all wheel assembly through sprocket and sprocket
is connected to chain therefore all the wheel assembly rotates at the same time.
Due to the less number of connections between the wheels, the movement can be increase till
90 degree.
8.2. Battery Rundown Test.
This is the test which is done in order to determine the time in which the battery gets fully
discharged when it is subjected to load.
Table 8.1.Battery rundown test table.

Unloaded condition.
Battery charge (volt.) Time (min.) Distance travelled (km)
14.20 115 2.15
Loaded condition (load of 4 kg)

Battery charge (volt.) Time (min.) Distance travelled (km)
14.20 97 1.72
It was found that battery life for the prototype model are
 For unloaded vehicle the model travels a distance of 2.15 km and it takes 115 minutes
to rundown the battery
 For the loaded condition (load of 4kg) the model traveled a distance of 1.72km and it
takes 97 minutes to rundown the battery.
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CHAPTER 9
COST ESTIMATION
Table 9.1. Cost estimation table.
Sl. no Component No. of items Price(in Rs.) Cost (in Rs.)
1 Wheel motor 4 500 2000
2 Steering motor 1 950 950
3 Battery 1 800 800
4 Bearing 4 110 440
5 Chain 4 70 280
6 Sprocket 4 75 300
7 Wheel 4 65 260
8 Metal used 7kg 65 455
9 Nuts and bolts 230 230
10 Ply board 1 100
11 Switch and wires 3 500
12 Labor cost 15 days 150/day 2250
Total 8565(approx)
31
CHAPTER:-10
CONCLUSION
10.1. Result
 The assembly and fabrication is done.
 Power is transmitted to each wheel through geared motor.
 These geared motors run by power supply which is provided by battery.
 Controller switch is used to control forward, backward and rotational motion
of the wheel.
 Rotary motion is transmitted from one wheel assembly to other three wheel
assembly with the help of sprocket and chain.
 Bearing help the base plate to be rigid and allow the wheel assembly to rotate.
10.2. Conclusion
By the analytical and experimental analysis and results we conclude that
 90 degree steering mechanism concept was generated.

 This concept was simulated in CATIA to check for functionality of mechanism.
32
 Working prototype was built to find the reduction in turning radius with 90 degree
wheel steering when compared to two wheel steering.
CHAPTER 11
FUTURE WORK
We have presented a new, innovative idea of four wheel steering mechanism. In this project,
the model is evaluated for its linear motion and as well for the rotation of the wheel. Wheel
rotation is required for the parallel parking. The parking process is evaluated and analyzed
under different condition like on loading and unloading conditions. This is applicable for
electric motor car in which there is certain more modification is required. Modification like
weight of the vehicle should be considered which is responsible for the battery rundown. So
vehicle should be of light weight which will increase the battery run down time.
Other future work is required which is as follows.
 Sensors can be added at the corner of the vehicle for exact information about the
parking space.
 Solar panel can be added at the top of the car to charge the battery.
 Windmill can be added to the vehicle for power generation from the wind while
the vehicle moves.
33
 Shock absorbers can be added to the wheel to transform the energy generated
during the jerking to the electrical energy.
REFRENCE
 Unknown, Four wheel steering report,
 http://www.scribd.com/doc/34677964/Four-
 Wheel-Steering-report, Retrieved on 13th Sep 2012.
 Unknown, Four wheel steering,

 http://www.wisegeek.com/what-is-four-wheelsteering.
 htm, Retrieved on 13th Sep 2012.
 Unknown, Four wheel steering, http://what-whenhow.

 Com/automobile/four-wheel-steering-4wsautomobile/, Retrived on 14th Sep 2012.
 “Honda Prelude Si 4WS:

 It Will Never Steer You Wrong, “Car and Driver, Vol. 33, No. 2, pps. 40-45, August
1987.
34
 Sano s et al, “Operational and design features of the steer angle dependent four wheel
steeringSystem.” 11th International conference onExperimental safety vehicles,
Washington D C1988, 5P.
 Jack Erjavec., Automotive Technology, A System

 Approach, 5th Edition, 2010.
35

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Mechanical Peoject Final Report

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VISVESVARAYA TECHNOLOGICAL UNIVERSITY

Jnana Sangama, Belgaum-590014

DEPARTMENT OF MECHANICAL ENGINEERING

Signature of the Seminar Signature of HOD Signature of Principal

We express our sincere gratitude to Dr.CHANNANKAIAH, PhD

, Professor and Head, Department of Mechanical Engineering, Banglore college of

We express our sincere gratitude to Dr.CHANNANKAIAH ,phd, Principal,

Chapter 2 Problem and Definition

Chapter 3 Objectives of the Project

Chapter 4 Literature Review

Chapter 6 Parts used

Chapter 7 Drawing, Drafting of different parts used in assembly

Chapter 8 Evaluation of prototype model

Chapter 9 Cost estimation

Chapter 11 Future work

Fig No Description Page no

Table no. Description page no

8.1 Battery rundown test table.

Parking is an ever-growing challenge around the world as number of vehicles is continuously

1.1. Parallel parking

1.2. Background Theory

Figure:-1.1 Block diagram for parallel parking system.

Figure 1.2.Method of lane changing

1.3. Scope Of The Project

4.2. Current Development and Modification in Automobile

1. U- Sok Chong, EOK Namgoong, seung-kisul :

2. Jeongyun Cheong , WesubEom , Jangmyung Lee :

3. Zhang Jian, Wang Shuang-shuan, Li Hua, Li Bin :

4. Sang Joon Lee, Sul S.K. :

5.2. Three Main Stages of Project

5.2.1. Theoretical Design

Figure 5.1.2-D and isometric view of prototype model.

Figure 5.2.2-D and isometric view of steering wheel motor assembly.

5.2.2. Mechanical Fabrication and Assembly.

Figure 5.3.Steering wheel motor assembly.

Figure 5.4.Remaining wheel motor assembly.

Figure 5.5. Assembled prototype model

Figure 5.6.Side view of the assembled model.

Figure 6.1. Steering motor

6.2. Power Transmitting Motor

Figure 6.2. Power transmitting motor

FiguFig 6.3. Deep grooved ball bearing

Figure 6.4. Sprocket

Figure 6.5. Rubber wheel

Figure 6.6.matallic roller chain

6.7. Base Plate

Figure 6.7 Bush

6.9. Wheel Plate

Figure 6.8 Wheel plate.

Figure 6.9 Battery

6.11.60 RPM Centre Shaft DC Motor

 Gear head length: 21mm

Inside view of Centre Shaft Economy Series DC Motor

Table 6.1. Motors’s data can vary by ±10%

The Arduino Uno is a microcontroller board based on the ATmega328. It has 14

Figure 7.1. Holding plate

Figure 7.2. Holding bush

Figure 7.3.Wheel supporting plate

Figure 7.4. Bearing holding plate

Figure 7.5.Motor shaft.

Figure 7.6. Motor plate

Figure 7.7 Base plate, Ply-wood

Table 8.1.Battery rundown test table.