【摘要】 为使车辆转向机构转向时尽可能满足阿克曼原理，文中在阿克曼原理的基础上求解单轴Watt-Ⅱ六连杆转向机构尺寸，用平面四杆机构进行耦合，文中设计转向机构为四轴转向，其中一轴为定轴。建立单轴Watt-Ⅱ六连杆转向机构数学模型和平面四杆机构数学模型，用MATLAB软件求取不同角度间隔求解杆件坐标位置，设计四轴转向系统优化初始尺寸。用ADAMS对四轴转向机构进行仿真优化分析，判断转角误差。优化结果表明：文中优化设计转向机构转向角度误差较小，具有一定转向精度，为设计优化求解多相六连杆耦合机构提供了新的思路。更多还原

【Abstract】 In this article, in order to make the vehicle’s steering mechanism meet the Ackermann principle as much as possible, efforts are made to solve the single-axle Watt-Ⅱ six-link steering mechanism’s size according to the Ackermann principle; the plane four-link mechanism is used for coupling. The designed steering mechanism has four axles, one of which is fixed. The mathematical models of the single-axle Watt-Ⅱ six-link steering mechanism and the plane four-link mechanism are set up. MATLAB is used to calculate the coordinate position of the link components with different angle intervals and optimize the four-axle steering system’s initial size. The four-axle steering mechanism is simulated and optimized by ADAMS to identify the steering-angle errors. The optimization results show that the optimized steering mechanism has a high standard of steering accuracy, with minor errors in the steering angle. It provides a new idea for design and optimization of such multi-phase six-link coupling mechanisms.更多还原