Optimal Dimensional Synthesis of Ackermann Steering Mechanisms for Three-Axle, Six-Wheeled Vehicles
Source abstract
Abstract
This study employs four metaheuristic optimization methods to optimize the dimensional synthesis of Ackermann steering mechanisms for three-axle, six-wheeled vehicles with front-axle steering mode and reverse-phase steering mode. The employed optimization methods include Particle Swarm Optimization (PSO), Hybrid Particle Swarm Optimization (HPSO), Differential Evolution with golden ratio (DE-gr), and Linearly Ensemble of Parameters and Mutation Strategies in Differential Evolution (L-EPSDE). With a front-wheel steering angle range of 70 degrees, two hundred optimization experiments were conducted for each method, and statistical analyses revealed that DE-gr and L-EPSDE methods outperformed PSO and HPSO methods in terms of standard deviation, mean value, and minimum error. These two methods exhibited superior convergence stability, faster convergence, and higher accuracy compared to PSO and HPSO. Reverse-phase (K = 1) steering mode outperformed front-axle steering mode, delivering reduced steering errors and turning radii. Considering the transmission ratio of front to rear axle (K) as a design variable in reverse-phase steering mode increased design flexibility and significantly lowered steering errors for the front and rear axle steering mechanisms. However, this comes with a slight increase in the turning radius of the vehicle’s front part compared to when K = 1. The optimized mechanism, designed using the DE-gr method, was validated through kinematic simulations and steering analyses using MSC-ADAMS v2015 software, further confirming the effectiveness and reliability of the proposed design.
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Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Dynamics and Control of Mechanical Systems · Robotic Path Planning Algorithms
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical Engineering, National Kaohsiung University of Science and Technology, 415 Jian Gong Rd., Sanmin, Kaohsiung 80778, Taiwan
Department of Vehicle Engineering, National Kaohsiung University of Science and Technology, 58 Shenzhong Rd., Yanchao, Kaohsiung 82444, Taiwan
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