A steering linkage for short wheelbase vehicles: Design and evaluation in a wheelchair power base - A technical note

An Ackerman steering linkage for short wheelbase, four-wheel vehicles has b een developed. The linkage coordinates the steering angle of each wheel thr ough a range of 180 degrees with minimal misalignment between wheels. Contr ol of steering angles is accomplished using a single linear actuator. Contr ol complexity is lower compared to four-wheel systems using individually co ntrolled steering actuators for each wheel. A prototype linkage that provid es a minimum turning radius while maintaining maximum stability has been de veloped and evaluated for a power wheelchair base. The single-actuator link age is well suited for this application, due to the cost-sensitive nature o f wheelchair products.