Solution of steering angle based on homogeneous transformation

Steering Angle is related to the design and optimization of steering mechanism and suspension, but it is not equal to the angle of knuckle around kingpin because of the existence of wheel alignment parameters. To calculate the steering angle, this paper derives based on homogeneous transformation its function expression by analyzing spatial geometric relation between the two angles and calculating coordinates related to steering trajectory of wheel center. Then, multi-body model of McPherson suspension with steering system is built and the calculation correctness is verified by comparing the function curve plotted by MATLAB software with the curve simulated by Adams/Car software. The calculation and simulation indicate that between the two angles, there is a ratio which is related to wheel alignment parameters and greater than 1.