STEERING MECHANISM WITH ZERO TURNING RADIUS

Report submitted in partial fulfillment of the requirement for the degree

of

B. Tech.
In

MECHANICAL ENGINEERING
Under the Supervision of
Mr. MANISH GAUR

By
Abhay singh (1303340002)
Abhay ranjan (1303340001)

Raj Kumar Goel Institute of Technology, Ghaziabad

Dr. A.P.J. Abdul Kalam Technical University, Lucknow

Session :- 2016-2017

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DECLARATION
This is to certify that Synopsis Report Entitled STEERING MECHANISM WITH ZERO
TURNING RADIUS which is submitted in partial fulfillment of the requirement for the award
of degree B.Tech. in Mechanical Engineering to R.K.G.I.T, Ghaziabad, Dr. A.P.J. Abdul Kalam
Technical University, Lucknow comprises only original work and studies carried out by students
himself. The matter embodied in this synopsis has not been submitted for the award of any other
degree.

Date: 06/10/2016

Abhay singh (1303340002)

Abhay ranjan (1303340001)

Approved By :
Signature
(Mr. MANISH GAUR)
Project Guide
ME Department
RKGIT,Ghaziabad

Signature
(Dr. RAVI SHANKAR PRASAD)
HOD
ME Department
RKGIT,Ghaziabad

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TABLE OF CONTENTS
Title.

Declaration...............

Chapter 1

Abstract...

iii

Key words

iv

ii

INTRODUCTION
1.1 Steering

1.2 Steering System

1.3 Functions Of The Steering System

1.4 Steering Requirement

1.5 Modes in 4WS system
1.6 Zero turn vehicle
1.7 Steering wheel configurations

Chapter2

2.1 Analysis of steering

2.2 Main Construction Principles of Chain Drives
2.3 Elements and construction

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Chapter 3

WORKING

Chapter 4

CONCLUSION

Chapter 5

Application

Chapter 6

FUTURE SCOPE

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Abstract
The aim of this paper is to develop an alternative solution for conventional two wheel steering
system .In modern era, the major characteristics of the vehicle like steer ability and handling
have become major aspects.Conventional steering involve either the Ackerman or Davis steering
system which has major disadvantage is it can't take minimum radius turn. Providing zero turn
steering without any compromise in steer ability and handling of the vehicle is a major concern
for automakers. The main intention is to improve the zero turn steer ability of the vehicle without
wheel wandering problems. The number of vehicles are continuously increasing It causes the
problem of traffic congestion, pollution (noise and air). To overcome problem like vehicle
maneuvering on narrow roads and during parking this system has been proposed. Zero turn
steering gives much better maneuverability and control on the car. We have developed an
innovative idea about four wheel steering design to implement a mechanism that can take
minimum radius turn about its gravitational axis. Zero turning is done by turning drive wheels at
the same rate in opposite direction. By steering the rear wheels in the direction opposite the front
wheels at low speeds, the vehicles turning circle radius is greatly reduced.

Key Words: Turning Radius, Zero Turn Mechanism,Steering Wheel Configuration, Four
Wheel Steering mechanism, parallel parking.

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INTRODUCTION
In 21`st century vehicle is the basic need of human being for transportation. The new
technologies were developed for the comfort and efficient working of the vehicle.

1.1 Steering
Steering is the term applied to the collection of linkages, components etc. which will allow a
vehicle follow the desire path .The most conventional system is two wheel steering system .
The purpose of steering is to ensure that the wheels are pointing in the required directions.

1.2 Steering System

Steering mechanism is used to give the required path and achieve a perfect steering
condition,.The main function of the steering system is to achieve angular motion of the front
wheels to negotiate a turn. For steering linkages and steering gear used which convert the rotary
motion of steering wheel into angular motion of the front road wheels.

1.3 Functions Of The Steering System

1. To control direction of motion of the vehicle
2. To give directional stability for vehicle while going straight ahead.
3. To enables straight ahead condition of the vehicle after completing a turn.
4. The road irregularities must be damped to the maximum possible extent. This should coexist the road feel for the driver so that he can feel the road condition without experiencing the
effects ofmoving over it.
5. To reduce tire wear and increase the life of the tire.

1.4 Steering Requirement

1. The steering should be very accurate and easy to handle.

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2. The effort should be minimal and must not be tiresome to the driver.
3. Should provide directional stability. This implies that the vehicle should have a tendency to
return to its straight ahead position after turning.

1.5 Modes in 4WS system

Four Wheel Steer
In Four Wheel Steer mode the rear wheels will always follow the front ones and will give the
tightest turning circle. You may switch to and from this position at any time in the field and the
rear wheels will re-align automatically regardless of the front wheel position.
Crab Steer
Crab steering is a special type of active four-wheel steering. It operates by steering all wheels
in the same direction and at the same angle. Crab steering is used when the vehicle needs to
proceed in a straight line but under an angle (i.e. when moving loads with a reach truck, or
during filming with a camera dolly), or when the rear wheels may not follow the front wheel
tracks (i.e. to reduce soil compaction when using rolling farm equipment Rear Wheel
Steering
A few types of vehicle use only rear wheel steering, notably fork lift trucks, camera dollies,
early pay loaders, Buckminster Fuller's Dymaxion car, and the Thrusts SC.
Rear wheel steering tends to be unstable because in turns the steering geometry changes
hence decreasing the turn radius (oversteer), rather than increase it (Understeer). A rear wheel
steered automobile exhibits non-minimum phase behavior. It turns in the direction opposite of
how it is initially steered. A rapid steering input will cause two accelerations, first in the direction
that the wheel is steered, and then in the opposite direction: a "reverse response." This makes it
harder to steer a rear wheel steered vehicle at high speed than a front wheel steered vehicle.
Passive Rear Wheel Steering
Many modern vehicles offer a form of passive rear steering to counteract normal vehicle
tendencies. For example, Subaru used a passive steering system to correct for the rear wheel's
tendency to toe-out. On many vehicles, when cornering, the rear wheels tend to steer slightly to
the outside of a turn, which can reduce stability. The passive steering system uses the lateral
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forces generated in a turn (through suspension geometry) and the bushings to correct this
tendency and steer the wheels slightly to the inside of the corner. This improves the stability of
the car, through the turn. This effect is called compliance Understeer and it, or its opposite, is
present on all suspensions. Typical methods of achieving compliance Understeer are to use a
Watt's Link on a live rear axle, or the use of toe control bushings on a twist beam suspension. On
an independent rear suspension it is normally achieved by changing the rates of the rubber
bushings in the suspension. Some suspensions will always have compliance oversteer due to
geometry, such as Hotchkiss live axles or a semi-trailing arm IRS.

1.6 ZERO TURN VEHICLE

basic principle is that of caster angle - each wheel is steered with a pivot point ahead of the
wheel; this makes the steering tend to be self-centering in desire direction of travel. We have to
consider the fact that in a turn, the inner wheel is actually travelling a path of smaller radius than
the outer wheel, due to which the degree of toe appropriate for driving in a straight path is not
suitable for turns. Another thing influence the steering dynamics is angel make by wheels with
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vertical plane. Modern cars mostly userackand pinion steering mechanisms, in which steering
wheel turns the pinion gear; the pinion moves the rack, which is a linear gear that meshes with
the pinion, this mechanism converting circular motion into linear motion along with transverse
axis of the car. The steering torque is applied by this motion to the swivel pin ball joints which
replaces kingpins used previously of the stub axle of the steered wheels via tie rods and a short
lever arm known as the steering arm.
In two wheels steering system the front wheels are turned using a hand operated steering wheel
which is positioned ahead of the driver. The common problem regarding two wheel steering
system includes problem in at public place, mall, parking, traffic etc.
In four wheel steering system the wheels connected to the front axle are turned opposite
to each other and also the wheels connected to the rear axle turn opposite to each other .The
wheels on the left half vehicle rotate in one direction and the one on the right half of the vehicle
rotate in opposite direction .
Zero turn vehicle takes the sharp turn about a vertical axis passing through its center of
gravity .For zero turn vehicle there is no need of additional space .The vehicle rotate in the circle
having diameter equal to its length .The requirement of additional space is neglected.This system
is used in jeep hurricane, Tata Nano pixel, JCB, lawn mower.

Fig. 1 Zero turning radius mechanism in Jeep hurricane

The Jeep Hurricane which has many steering modes using four-wheel independent
steering. Each wheel can turn independently from the other. The vehicle has two modes of four
wheel steering. In first mode front tires and rear tires turns in opposite direction and reduces the
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turning circle. In second mode, front and rear wheels turn in same direction for crab steering,
which facilitates parking at narrow space without changing the direction .The jeep hurricane can
actually rotate in place, as shown in Fig. The Jeep hurricane has some limitations like
requirement of skilled driver, complex steering system wear of tire.

1.7 Steering wheel configurations

The various types of steering wheel configuration are as follows
Two Wheel Steer: In this mode only one axle is driven.
Four wheel steer: In this both axle are driven but in direction opposite to each other.
Crab steer: When all the wheels turn in same direction it is known as crab steer.
Zero turn steer: In this mode vehicle follows the circular path.

Fig.2.Steering wheel configurations

2.1 Analysis of steering

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Fig.3.Steering angles for inner and outer wheel

Turning circle radius for the inner front wheel
RIF =

Turning circle radius for the outer front wheel

ROF =

Turning circle radius for the inner rear wheel

RIR =

Turning circle radius for the outer rear wheel

ROR =

2.2 Main Construction Principles of Chain Drives

A wide range of factors should be taken into account when selecting a chain drive in order to
secure its long service life and reliable operation. The service life of roller chains is supposed to
be around 10 000 running hours providing two chain wheels are used and all the principles of
correct assembly and maintenance are respected. Non-compliance with or undervaluation of the
constructional and/or maintenance principles will lead to considerably shorter service life of the
chain.
Main factors influencing chain selection and service life:

transmitted power

load type

chain running speed

number of teeth of the small chain wheel

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transmission ratio

axial distance and sag

specific pressure at chain joint

lubrication method

work conditions

correct assembly of the complete drive

chain drive maintenance

Transmitted Power
For reference purposes, the maximum loading force can be determined as follows: for static load
on a correctly installed and properly maintained roller and bush chains the loading force should
not exceed 1/3 of the breaking load. With Gall chains the loading force should not surpass the
value of 1/5 of the breaking load. Continuous operation, impact strain or less favourable work
conditions require for the permissible load to be multiplied by the safety coefficient.

Type of load
When in operation, chains are rarely exposed to steady pull and that is why the loading force
increased by operational impacts should be taken into consideration. For continuous operation, a
larger force should also be considered. Shafts and bearings should be dimensioned in such a way
that vibrations are avoided. Overhung installation of chain wheels is not suitable for heavy-duty
service.

chain running speed

The permissible peripheral velocity gets lower with the increasing pitch and with decreasing
number of the chain wheel teeth, the marker being 19. At chain pitch of 25.4 mm and 19 teeth the
maximum permissible velocity is 9.7 m/sec, the maximum permissible velocity for a pitch of
50.8mm being 6.2 m/sec. Where the peripheral velocity is higher than 4 m/sec the effect of the
centrifugal force should be included in the calculation.

Number of Chain Wheel Teeth

Chain wheel girdled with a chain forms a polygon with leg size equal to that of the chain pitch.
When the chain is approaching the wheel periphery a certain degree of acceleration comes into
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play and increases together with the increasing difference between the circumscribed circle and
the circle inscribed by the chain. The acceleration grows proportionally with the pitch and
quadruple to the number of revolutions. The acceleration results in a jerking motion which can
be observed in case of low speeds of the chain and less number of pinion teeth. Chain wheels
with number of teeth below 17 show a dramatic growth of work consumed for the acceleration
while there are minute changes apparent where the pinion teeth are more than 25 in number.
Pinions featuring small number of teeth show faster wear not only due to the more frequent
engagement of the teeth but also due to the fact that they together with the chain consume the
work exerted upon uneven chain movement. Uneven chain movement is caused by the two chain
wheels. To avoid the harmonic oscillation of the whole system an odd number of teeth should be
selected, adopting prime numbers as far as possible, while the transmission ratio should not be an
integer.

Transmission Ratio
The use of chain drives is, as a rule, connected with reduction transmission ratios. The number of
the pinion teeth should preferably be 17 as a minimum. The teeth of the large (driven) wheel
should not be more than 70 in number. Chains showing larger pitch should not feature
transmission ratio higher than 1:7 while the transmission ratio of smaller-pitched chains should
not be above 1:9. A step-up transmission ratio is unfavorable and larger ratios of this type should
be avoided as much as possible. Where applicable, the smaller (driving) wheel should have at
least 25 teeth.

2.3ELEMENTS AND CONSTRUCTION

Basic frame:
The hollow square pipes of material of mild steel are selected for the frame. The pipes are cut
into required size by cutting machine. The end of the pipes cut into 45 degree to form rectangular
frame. After cutting, the end of the square pipes is grinded so that it became smooth and
convenient for welding. The square pipes are welded together to form a rectangular basic frame.
DC electric motor
Electric motor is machine which convert electric energy into mechanical
energy. Its action is based on the principle that, when a conductor carrying
current placed in magnetic field, it experiences a mechanical force whose
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direction is given by Flemings Left Hand Rule

Sprocket
A sprocket or sprocket-wheel is a profiled wheel with teeth, cogs, or even sprockets that mesh
with a chain, track or other perforated or indented material. The name 'sprocket' applies generally
to any wheel upon which radial projections 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.
Sprockets are used in bicycles, motorcycles, cars, tracked vehicles, and other machinery either to
transmit rotary motion between two shafts where gears are unsuitable or to impart linear motion
to a track, tape etc. Perhaps the most common form of sprocket may be found in the bicycle, in
which the pedal shaft carries a large sprocket-wheel, which drives a chain, which, in turn, drives
a small sprocket on the axle of the rear wheel . Early automobiles were also largely driven by
sprocket and chain mechanism, a practice largely copied from bicycles
Chain
A chain is a series of connected links which are typically made of metal. A chain may
consist of two or more links.

Those designed for lifting, such as when used with a hoist; for pulling; or for securing,
such as with a bicycle lock, have links that aretorus shaped, which make the chain flexible in
two dimensions (The fixed third dimension being a chain's length.)

Those designed for transferring power in machines have links designed to mesh with the
teeth of the sprockets of the machine, and are flexible in only one dimension. They are
known as roller chains, though there are also non-roller chains such as block chain.

Wheels:
Wheels are the end link of the vehicle which give direct output of the system.
They are move on a ground having rubber coating to outer side of the wheel for gripping. It
carries whole weight of the vehicle.
The system consists of three double acting pneumatic
cylinders actuated by Direction Control Valve. Hoses are
used to supply
compressed air.In between wheels and piston rod of pneumatic cylinders mechanical
linkages are arranged. Wheels are driven by side shaft D.C. Gear motor.
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Links:
A link is a rigid body which has two nodes which are use to attach other links. Linkages are the
basic for all mechanisms. Linkages are made up of links and joints. Types of links depending
upon nodes
Binary link - with two nodes.
Ternary link - with three nodes.
Quaternary link - with four nodes
A joint is used to connect two or more links, which gives some motion between the links which
are connected. Joints are also called kinematic pairs .These can be classified in several ways:
1. By the type of contact in between the two, points line, elements
or surface.
2 .By the number of degrees of freedom at the joint.
3 .By the type of physical closure of the joint: either force or
form closed.
4 .By the number of links joined .
The term lower pair describes joints with surface contact as with a pin enclosed by a hole and the
term higher pair describes joints with point or line contact. However, if clearance is present
between pin and hole must be for motion, surface contact in the pin joint actually becomes line
contact, as the pin contacts only one side of the hole. Likewise, at a microscopic level, a block
sliding on a flat surface actually has contact only at discrete points, which are the tops of the
surfaces' asperities. The advantage of lower pairs over higher pairs is their better ability to trap
lubricant between their enveloping surfaces. This is especially true for the rotating pin joint. The
lubricant is more easily squeezed out of a higher pair, none developing joint. As a result, the pin
joint is preferred for low wear and long life, even over its lower pair cousin, the prismatic or
slider joint. The revolute and the prismatic pairs are the only lower pairs usable in a planar
mechanism. The screw, cylindrical, spherical, and flat lower pairs are all combinations of the
revolute and/or prismatic pairs and are used in spatial mechanisms.

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3. 1 WORKING
Working Principle
Working of the model is based on the chain and sprocket model . primary sprockets are fixed on
the motors shaft which is fixed on the mid position between joint1 and joint 2 and the second
sprocket is between joint 3 and joint 4 (as shown in the figure ). All the tyres fixed in sure
geometry on the frame with a shaft carrying sprocket mounted on it such that rotaion of the
sprocket can provide a tilt to the tyres.
All the tyres are axially connected with motor to provide run to the vehicle . trasverse shaft of
tyre 2 and 3 have two sprocket . chain 1 is mounted between motor sprocket 1 and sprocket 4
where chain 2 mounted between sprocket 2 and sprocket 6. So when motor 1 and motor 2
rotates it provide a tilt to tyre 2 and tyre 3. Now two another chains are mounted between
sprocket 3 and sprocket 6 and sprocket 4 and sprocket 5 respectively chain 4 and chain 3 having
cross position . so now a tilt of tyre 2 also provide a tilt to tyre 4 and tilt of tyre 3 also provide a
tilt to tyre 1.

For crab steering- for crab steering front wheels should have same direction rotation as well as
rear wheel also . all wheel have same rotation is also a case of crab steering . if we rotate motor 1
and motor 2 in same direction (clockwise or counter clockwise) crab steering can be achive .
rotation of the wheels can be control be hand operated controller.

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For zero radius turn - for crab steering front wheels should have opposite direction rotation as
well as rear wheel also . if we rotate motor 1 in clockwise direction and motor 2 in opposite
direction (counter clockwise) zero radius steering can be achive . rotation of the wheels can be
control be hand operated controller.

4.1 CONCLUSION
A vehicle containing user friendly steering mechanism and low cost has been introduced.Based
on the results of analysis following conclusion are drawn. The vehicle's cornering behavior
becomes more stable and controllable at low speeds as well as on wet or slippery road surfaces.
The vehicles response to steering input becomes quicker and more precise.The vehicle's straightline stability is improved during zero turning.By steering the rear wheels in the direction
opposite the front wheels at low speeds, the vehicles turning circle radius is greatly reduced
.problems like vehicle maneuvering on narrow roads and during parking becomes easier. This
system reduce parking and turning time. We can achieve zero turn without any compromise in
steer ability and handling of the vehicle.

5. RESULTS
According to research of various scientists they proven that zero turn vehicle or four wheel
steering system is convenient over the two wheel steering system. The turning radius for a four
wheel steering system is less than the two wheel steering system also it takes a sharp turn.

Fig 5.1.1: Comparison between two drives

6. Advantages & Disadvantages

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6.1 Advantages
Superior cornering stability: The vehicle cornering behavior becomes more stable and
controllable at high speed as well as on wet slippering road surfaces.
Improved steering response and precision: The vehicle response to steering input becomes
quicker and more precise throughout the vehicle enter speed range.
High speed straight line stability: The vehicles straight line stability at high speed is
improved. Negative effects of road irregularities and crosswinds on the vehicles stability are
minimized.
Improved rapid lane-changing maneuvers:
This is stability in lane changing at high speed is improved. In high speed type operation
become easier. The vehicle is less likely to go into a spin even in situations in which the
driver must make a sudden and relatively large change of direction.
Smaller turning radius: By steering the rear wheels in the duration opposite the front
wheels at low speed, the vehicles turning circle is greatly reduced. Therefore, vehicle
maneuvering on narrow roads and during parking become easier.
Controlling: Computer-controlled Quadrasteer can be switched on and off and has an
effective trailer towing mode.

6.2 Disadvantages
The 4ws, due to construction of many new components, the system becomes more
expensive.
The system includes as many components (especially electronically) there is always a chance
to get any of the part inactive, thus the system become in operative.

7. Application
Parking: During a parking a vehicles driver typically turns the steering wheels through a
large angle to achieve a small tuning radius. By counter phase steering of the rear wheels,
4ws system realizes a smaller turning radius then is possible with 2ws system. As a result
vehicle is turned in small radius at parking.
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Junctions: On a cross roads or other junction where roads intersect at 900 degrees or tighter
angles, counter phase steering of the rear wheels causes the front and rear wheels to follow
more-or-less path. As a result the vehicle can be turned easily at a junction.
Slippery road surfaces: During steering operation on low friction surfaces, steering of the
rear wheels suppress sideways drift of the vehicles rear end. As a result the vehicles
direction is easier to control.
High speed straight line operation: When traveling in a straight line at high speed, a
vehicles driver frequently needs to make small steering correction to maintain the desired
direction, in phase steering of the rear wheels minimizes these corrective steering inputs.
Narrow roads: On narrow roads with tight bends, counter-phase steering of the rear wheels
minimizes the vehicles turning radius, thereby reducing side-to side rotation of the steering
wheels and making the vehicle easier to turn.

8. FUTURE SCOPE
With the increasing number of future vehicle registrations, traffic and parking space problems
become intensified. Hence there is a need of a suitable steering mechanism on a vehicle, which
gives comfort and abide parallel parking, parking issues in a well-organized manner, is
necessary. This project focuses and aims on designing an All Wheel Steer platform, which is
capable of achieving Zero Turn Radius. It forms a solution for above discussed problem. Zero
Turn Radius steering mechanism drive wheels in a unique manner such that four wheels of the
vehicle follow a exact circular path, so that the chassis/platform will be capable of rotating about
a fixed point. Hence, this would reduce the requirement of moving the vehicle in a defined path
with large turn radius, as employed in traditional steering systems.

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