Four-wheel steering provides a means to actively steer the rear wheels during turning. It improves handling and helps the model to make tighter turns. This is relatively new technology that can be used in industries to transport the load to compact spaces and to elevate to a specific height and no requirement of cranes.

1. 4-MATIC WHEEL DRIVE
MECHANISM
UDP
Group 37
130050119095 Monil H. Polra
130050119118 Vatsal B. Trivedi
130050119126 Yash K. Patel
130050119540 Vishal D. Patel
Internal Guide: Asst. Prof Alok D. Dwivedi

2. INTRODUCTION
According to conventional steering mechanism we have made a industry base
model with a new mechanism of four wheel steering. Four-wheel steering
provides a means to actively steer the rear wheels during turning. It improves
handling and helps the model to make tighter turns.
When both the front and rear wheels steer toward the same direction,
they are said to be in phase and this produces a kind of sideways movement of
the car. When the front and rear wheels are steered in opposite direction, this is
called anti-phase, counter-phase or opposite-phase and it produces a sharper,
tighter turn. When the right and the left side wheels turns in opposite direction
inwards it makes a ZERO which is given as 0 degree rotation.

4. PROBLEM STATEMENT
• Reduce the problem of transporting load in
factories.
• To study the four wheel steering mechanism.
• Turning radius of the vehicle is fairly high.
• Handling the vehicles at narrow corners and sharp
turns are difficult in a normal steering.

5. PROJECT OBJECTIVES
• The aim of this project is to decrease the turning radius
of the vehicle using four wheels symmetric steering
system (4WS).
• In situations like congested spaces in factory it is
difficult to make sharp turns to transport the goods to
the workplace and require manpower.
• Hence there is a requirement of a mechanism which
result in less turning radius and it can be achieved by
implementing four wheel steering mechanism instead of
regular two wheel steering.

6. There are some points to describe this project
from existing system-
1. Superior cornering stability.
2.Notable improvement in turning
3. Relative wheel angles and their control.
4. Smaller turning radius.
6

7. TURNING CIRCLES
• The turning circle of a car is the diameter of
the circle described by the outside wheels
when turning on full lock. There is no hard and
fast formula to calculate the turning circle but
you can get close by using this:
Turning circle radius = (track/2) + (wheelbase/
sin(average steer angle))

8. CALCULATION
• NORMAL STEERING(0-30)
Turning circle radius = (track/2) + (wheelbase/
sin(average steer angle))
=(1.219/2)+(0.610/sin 20)
=2.39 m
• Four wheel steering(0-90)
Turning circle radius = (track/2) + (wheelbase/
sin(average steer angle))
=(1.219/2)+(0.610/sin 60)
=1.31 m
So nearly 45% of the turning radius is reduced.

9. EXPERIMENTAL CALCULATION
Wheel rpm Additional mass(kg)
27 1
24 3
23 4.5
18 7
15 10.5
Here we have neglected frictional losses.
We put some additional mass on the model and according to that we note down the rpm of
wheel. On the basis of that we note the observations in the tabular form and than we make
the graph of it.

10. Wheel rpm(x-axis) V/s additional mass(y- axis)

11. THEORETICAL CALCULATIONS
We have,
DC motor 12v,5Amp
Force calculation of one motor,
We know that,
Power = Voltage*Current
P=V*I
P= 12*5= 60 watt
Now,
Power= Torque* Velocity
P= T*v
We have to consider torque per metre
Therefore, v= 1m/s
Therefore,
T= P/v
T= 60 Nm

12. Now, we consider that the losses in the power transmission from motor to wheel is
30% therefore the efficiency is 70%
Therefore,
Torque= 60* 70%
T= 42 Nm
Now,
T= force*wheel radius
T= F*r
Here wheel radius(r) = 0.075m
Therefore,
F= T/r
F=42/0.075= 560 N
Force developed by one motor for no additional mass is 560 N.
Now,
F= mass*acceleration
F=m*a
a=F/m
a= 560/11.5= 48.69 m/s^2

13. Model mass(kg) Additional mass(kg) Total mass(kg) Acceleration(m/s^2)
11.5 0 11.5 48.69
11.5 1 12.5 44.8
11.5 3 14.5 38.62
11.5 4.5 16 35
11.5 7 18.5 30.27
Additional Mass(x-axis) V/S Acceleration(y-Axis)

14. METHODOLOGY
• Study how to control degree of turning of four
wheel drive mechanism.
• Study about turning radius that we include for
over project to achieve our aim.
• Study of different mechanism to lift the load
which is carried by our model.
• DIFFERENT MECHANISM TO LIFT
HYDRAULIC LIFT
PNEUMATIC LIFT
MECHANICAL LIFT

15. • HYDRAULIC SUSYEM
In this system there was a problem of storage tank
because of which the overall weight of the model increases
and it was difficult for the motors to carry the overall load
and required heavy motors which are costly.
• PNEUMATIC SYSTEM
In this system it requires a heavy compressor and
number of cylinders to operate the lift properly, due to
which the weight of model increases . We tried to use the
cylinders of specification 25X250. we required two cylinders
and also a heavy compressor which was not easy to carry
and mini compressor are not that much powerfull to lift the
cylinders .

16. WORK PROGRESS
• Study of different mechanism which is suitable for accomplish
our purpose.
• Searched for elements
• Assembling of the elements according to the turning
mechanism
• Searched for additional application related to our model
• Study of the different mechanism to lift load
• After that we implement the appropriate mechanism in our
model.

17. SPECIFICATIONS OF DESIGN
 FRAME
Material: Mild Steel
Size : 609.6 mm
Square size pipe : 25.4X25.4X609.6mm
25.4X25.4X558.8 mm
 SPROCKET
Material: Mild Steel
Diameter : 155 mm
Teeth : 48
Quantity : 4
 CHAIN
Material : Mild steel
Size : 5ft
Quantity : 2

18.  MOTOR
Material : Standard
Specification : 12V, 30 rpm, 5A
Quantity : 5
 NUT and BOLT
Nut Quantity : 4(20 mm)
Bolt : 2(152.4mm)
2(101.6mm)
 WHEELS
Material : Rubber
Size : 152.4mm
Quantity : 4

19. COST ESTIMATION
Materials Total Price(Rs)
DC wiper motor(5) 2850
Tyres(4) 1200
Sprocket(4) 1000
Frame 1220
Remote controller 6000
Bolt and Nut(8) 350
Chain(2) 150
8 channel Relay 12v 450
Welding and Machining charges 1500
Screw Jack 320
Total 15040

20. DESIGN OF MODEL

23. APPLICATIONS
• Industries
• Ship Yard
• Rail Yard
• Garage

24. FUTURE SCOPE
1. Parallel Parking Maneuver Simplified With 0º rotation
Mode
24
Fig : 9.1: Parallel Parking Maneuver Simplified
With 0 degree rotation Mode
• To successfully park the vehicle
without incurring any damage.
• Driver can virtually park the
vehicle without even touching
the steering wheel.

25. 2. High speed lane changing
25
Fig :9.2 – Parallel parking
mode in Action
Under slippery conditions, the rear of
the car may fishtail out of control
which can be damped or even
eliminated through the use of same-
side steering.

26. ADVANTAGES
 Time saving
 Easy to make tight turns in compact Spaces
 Reduction in manpower
 Easy transportation
 Lifting of load to some extent

27. DISADVANTAGES
More maintenance is needed.
Mechanism is complex.
 Limitation in load carrying capacity

28. CONCLUSION
This is relatively new technology that can be used in industries to
transport load to compact spaces and to elevate to a specific height
and no requirement of cranes.
Requires less people to control this as it is done through remote
control. It is time saving as it is easy to make tighter turns in compact
spaces.

29. REFERENCES
• http://auto.howstuffworks.com
• http://spotidoc.com/doc/1313158/four-
wheel-steering-system
• International Conference of Advance Research
and Innovation (ICARI-2014)
• www.ijreat.org
• Research Inventy: International Journal of
Engineering And Science