Based on the design and study of the solid ackerman steering linkage, this paper futher derives the equation for both the rotating angle of the outer stearable wheel and the minimal rotating angle of the ackerman steering linkage.

• 本文在整体式转向梯形机构的设计研究基础上,进一步推导出分段式转向梯形外侧转角以及最小传动角的解析计算关系式。