Analysis of the steering mechanism based on spatial linkages of an underground vehicle

To achieve the goal of the 4WS (four-wheel steering), the spatial linkages were applied to the steering mechanism of the underground vehicle. The operation principle of the steering mechanism was firstly obtained. Then a nonlinear mathematical model of spatial linkages mechanism was deduced and the deviation from the Ackermann theory is about 7%. The results were acquired by solving the equations numerically in computer simulation software and compared with the real vehicle experiment data. It is demonstrated in the paper that the mathematical model is accurate and the error is within 6.5%. It is thought that this information may be useful in the initial design of the steering mechanism of the underground vehicle.