Sheet1

g
C

E
e

i
f

y
d

c
x

G
Y

A
a

Ackermann steering design spreadsheet

by Peter Eland, last modified 5 May 98
CONSTANTS (change these to change initial geometry)
Centreline to kingpin /mm
a
350
Steering arm length /mm
b
67
Steering arm initial angle /degrees
c1
70
Handlebar pivot offset /mm
d
0
Handlebar arm initial angle / degrees
e1
14
Ideal Ackermann
Handlebar arm length / mm
f
80
radius
left
Wheelbase
j
1000
100000
0.57
Front wheel offset (from kingpin)
50
20000
2.81
Wheel diameter
349
10000
5.52
Handlebar offset (from D)
130
5000
10.59
Handlebar length
400
3000
16.62
Rear wheel offset (a la Windcheetah)
40
2000
23.05
INPUT VARIABLE
Wheel (left on screen) angle /degrees
h
23 (change this to change steering angle shown on graph)
OUTPUT VARIABLES
Handlebar angle /degrees
Wheel (right on screen) angle /degrees
Track rod length BC and EF /mm

g
i

-20.60
-33.18
308.0801

COORDINATES (INITIAL/UNCHANGING)
x
y
D
0
0
A
-350
0
G
350
0
COORDINATES DERIVED
x
y
Initial B
-327.1
63.0
B
-353.5
66.9
F
296.4
40.2
Initial C
-19.4
77.6
C
-45.4
65.9
E
-9.2
79.5
Handlebar midpoint
-45.7
121.7
Handlebar end 1
141.5
192.1
Handlebar end 2
-233.0
51.3
Wheel LH midpoint
-396.025 -19.5366
Wheel LH rear end
-464.208 141.0915

Page 1

100m
20m
-0.45
-2.25
-0.575
-2.91
(ignore these three rows above)

Sheet1

Wheel LH front end

Wheel RH midpoint
Wheel RH rear end
Wheel RH front end
Rear wheel rear end
Rear wheel front end

-327.843 -180.165
391.8479 27.3633
296.35 173.4126
487.3458 -118.686
40
1174.5
40
825.5

GRAPH SERIES (ALL DUPLICATE ABOVE COORDS))

handlebar wheel RH wheel LH rear wheelsteering triangle
handlebar
0.0
0
-45.7
121.7
141.5
192.1
-233.0
51.3
wheel LH
-350
0
-396
-20
-464
141
-328
-180
wheel RH
350
0
391.8479
27.3633
296.35
173.4126
487.3458
-118.686
rear wheel
40.0
1174.5
40.0
825.5
steering triangle
0
0
-45.4
65.9
-9.2
79.5
0
0
kingpin arm l
-350
-353.5
kingpin arm r
350
296.4
track rod L
-353.5
-45.4
track rod R
-9.2
296.4

LHS:
Bx
By
Dx
Dy
Coords of D relative to B x
Coords of D relative to B y
r1
r2
X
a
b
c
soln1, rel to B x
soln1, rel to B y
soln2, rel to B x
soln2, rel to B y
Absolute coords of soln 1 x
Absolute coords of soln 1 y

general
-353.5065
66.9082
0.0000
0.0000
353.5065
-66.9082
308.0801
80.0000
108978.5
129443.6
14583099
15280757
308.0783
-1.05777
287.1555
-111.602
-45.42823
65.85041

100m
-327.713
63.18462
0.0000
0.0000
327.7132
-63.1846
308.0801
80.0000
99950.78
111388.2
12630704
-2E+08
307.7488
14.28423
280.3778
-127.678
-19.96438
77.46885

Page 2

20m
-330.202
64.00823
0.0000
0.0000
330.2024
-64.0082
308.0801
80.0000
100822
113130.7
12906876
-1.8E+08
307.8143
12.79524
280.7382
-126.883
-22.38809
76.80347

10m
-333.246
64.87136
0.0000
0.0000
333.2457
-64.8714
308.0801
80.0000
101887.2
115261
13219119
-1.6E+08
307.8836
11.00197
281.2743
-125.691
-25.36212
75.87334

5m
-339.04
66.0979
0.00
0.00
#######
-66.0979
#######
80.0000
103916
119319
1.4E+07
-1E+08
307.986
7.62773
282.566
-122.76
#######
#######

3m
-346.051
66.8835
0.00
0.00
346.0507
-66.8835
308.0801
80.0000
106369
124224
1.4E+07
-5.2E+07
308.06
3.52037
284.561
-118.06
#######
70.40387

Sheet1

Absolute coords of soln 2 x

Absolute coords of soln 2 y

-66.35096 -47.33532 -49.46418 -51.97140 -56.4763 #######

-44.69396 -64.49316 -62.87524 -60.81919 -56.6606 #######

RHS:
Ex
Ey
Gx
Gy
Coords of G relative to E x
Coords of G relative to E y
r1
r2
X
a
b
c
soln1, rel to B x
soln1, rel to B y
soln2, rel to B x
soln2, rel to B y
Absolute coords of soln 1 x
Absolute coords of soln 1 y
Absolute coords of soln 2 x
Absolute coords of soln 2 y

-9.1959
79.4697
350.0000
0.0000
359.1959
-79.4697
308.0801
67.0000
112880.7
135337.1
17941198
4.96E+08
305.5611
-39.3161
293.6284
-93.2507
########
40.15364
########
-13.78095

18.74192
77.77365
350.0000
0.0000
331.2581
-77.7736
308.0801
67.0000
103102.5
115780.7
16037315
2.15E+08
307.7124
-15.0472
282.2572
-123.467
########
62.72640
########
-45.69374

Page 3

16.28953
78.32401
350.0000
0.0000
333.7105
-78.3240
308.0801
67.0000
103960.8
117497.3
16285260
2.38E+08
307.6321
-16.6076
282.8974
-121.994
########
61.71646
########
-43.66954

13.22695
78.89897
350.0000
0.0000
336.7730
-78.8990
308.0801
67.0000
105032.7
119641.1
16573950
2.67E+08
307.5167
-18.6241
283.7883
-119.906
########
60.27490
########
-41.00749

7.1905
79.6762
#######
0.0000
#######
-79.6762
#######
67.0000
107145
123867
1.7E+07
3.3E+08
307.227
-22.905
285.838
-114.94
#######
#######
#######
-35.2592

-0.4912
79.9985
350.0000
0.0000
350.4912
-79.9985
308.0801
67.0000
109834
129244
1.8E+07
4E+08
306.683
-29.3047
289.026
-106.664
306.1920
50.69377
288.5350
-26.6655

Sheet1

right
0.575
2.913
5.916
12.137
20.674
31.218

This geometry
R
Error
HB Angle
0.5747
0.0%
0.45
2.91
-0.2%
2.25
5.89
-0.4%
4.48
12.08
-0.5%
8.84
20.83
0.8%
14.35
33.30
6.7%
20.65

e steering angle shown on graph)

10m
-4.48
-5.89
(ignore these three rows above)

5m
-8.84
-12.08

3m

2m
-14.35
-20.83

-20.65
-33.30

Page 4

Sheet1

kingpin armkingpin
l
arm r

0
66.9
0
40.2
66.9
65.9
79.5
40.2

2m
-353.566
66.90501
0.00
0.00
353.5664
-66.9050
308.0801
80.0000
108999.4
129485.5
14585215
15830791
308.0781
-1.09607
287.1783
-111.544
-45.48827
65.80895

Page 5

Sheet1

-66.38816
-44.63868

-9.26833
79.4613
350.0000
0.0000
359.2683
-79.4613
308.0801
67.0000
112906.1
135387.8
17943329
4.97E+08
305.5473
-39.4232
293.6732
-93.1096
########
40.03814
########
-13.64835

Page 6