Engineering
Ackermann steering: four wheels, one turning centre
Turn the front wheels and compare the inner and outer angles required for rolling around a shared centre.
Try this
Increase steering and compare the inner and outer wheel angles. The lines meet at the turning centre.
The model and its limits
Pure rolling kinematics. No tyre slip, suspension compliance or steering-force calculation. The chassis stays fixed for inspection.
Equations used in the module
Equations cot(delta_outer) - cot(delta_inner) = track / wheelbase R = wheelbase / tan(delta)
