ATAE 2016: Advanced Training in

Agricultural Engineering
Topic: Steering System of a Tractor
Steering system provides the directional change in the movement of an Automobile and maintain in a
position as per the driver’s decision without much strain on him
REQUIREMENTS OF STEERING SYSTEM:
a. It must keep the wheel at all times in to rolling motion
with out rubbing on the road.
b. This system should associate to control the speed.
c. It must be light and stable.
d. It should also absorb the road shocks.
e. It must easily be operated with less maintenance.
f. It should have self-centering action to some extent.

FUNCTIONS OF STEERING SYSTEM:

a. It helps in swinging the wheels to the left or right. MAIN COMPONENTS :
b. It helps in turning the vehicle at the will of the driver. 1. Steering Wheel , 2. Steering column or shaft
c. It provides directional stability. 3. Steering Gear, 4. Drop Arm or Pitman Arm
d. It is used to minimize the tyre wear and tear. 5. Drag Link, 6. Steering Arm, 7. Track-Arms
e. It helps in achieving self-centering efforts. 8. Track Rod or Tie-Rod
f. It absorbs major part of the road shocks. 9. Adjusting Screws
 Topic: Steering System of a Tractor
Steering System Configurations
(a) Two Wheel Steer : A 4-Wheel Steering System is flexible enough to work as a 2-wheel steer
by restricting the rear wheel movement.
(b) Four Wheel Steer: Front wheel directions are opposite to rear wheel directions. This helps to
take sharp turn with least turning radius. This is done at slow speed.
(c) Crab Steer: At high speed lane change, both the front and rear wheels face in same direction.
(d) Zero turn: Front and Rear wheels are so aligned that the vehicle moves in a circle of ‘’zero
radius’’.
 Topic: Steering System of a Tractor

Steering System Gear Box: Types and Function

1. Worm and Wheel Type: This type of steering gear
has a square cut screw threads at the end of the
steering column; which forms a worm, at the end of it
a worm wheel is fitted and works rigidly with it.
Generally covered shaft is used for the worm wheel.
The worm wheel can be turned to a new position the
drop arm can be readjusted to the correct working
position.

2. Re-circulating Ball Type: In this type of gear box the

endless chain of balls are provided between the worm
and nut members. The nut form a ring of rack having an
axial movement. So that the sector on the rocker shaft
racks, the balls roll continuously between the worm and
nut. Being provided with return chambers at the ends of
the worm. This method reduces friction between worm
and nut members. This type of steering gear is used for
heavy vehicles.
 Topic: Steering System of a Tractor
Steering System Gear Box: Types and Function
3. Rack and Pinion Type: This is common manual type
of steering gear box is used in most of the vehicles. In
this type of steering a pinion is provided the bottom
end of the steering column. The teeth of the pinion
wheel in mesh with corresponding teeth provided on
the rack, the end of which are connected to the stub
axle through the rod. The rotating motion of the pinion
operates the rack in FORE and AFT direction which in
turn operates the stub axle.
4. Worm and Sector Type: In this type the worm on the
end of the steering shaft meshes with a sector mounted
on a sector shaft. When the worm is rotated by rotation
of the steering wheel, the sector also turn rotating the
sector shaft. Its motion is transmitted to the wheel
through the linkage. The sector shaft is attached to the
drop arm or pitmen arm.

5. Cam and Lever Type: The cam and lever steering

uses one or two lever studs fitted in taper roller
bearing. When the worm in the form of helical groove
rotates the stub axle and it also rotates along with it.
This imports a turning motion to the drop arm shaft.
 Topic: Steering System of a Tractor
Steering System Terminology:
Factors effects the wheel alignment:
1. Factors pertaining to wheel:-
a. Weight coming on front axle
b. Inflation pressure of tyre.
c. Brake adjustments.
2. Steering Linkages.
3. Suspension System
4. Steering Geometry:
a. caster, b. camber, c. king pin inclination, d. toe-in and toe-out etc.,

The steering Geometry includes

1. Caster angle
2. Camber angle
3. King-pin inclination
4. toe-in
5. toe-out etc.,
 Topic: Steering System of a Tractor
Terminology:
Caster Angle: The angle of the steering axis (king pin)
from the vertical as viewed from the side. This is about
2º to 8º. The backward tilt is called as positive caster.
The forward tilt is called negative caster.
Camber: The angle between the tire/wheel with respect to
the vertical as viewed from the front of the vehicle. It is
approximately ½º to 2º.
King-pin inclination: It is the angle between vertical line
to the king pin axis. The inclination tends to keep wheels
straight ahead and make the wheels to get return to the
straight position after completion of a turn. The
inclination is normally kept 4º to 8º.
Toe-in: It is the amount in minimum at the front part of the
wheel points inwards approximately 3 to 5 mm. It
prevents side slipping excessive tyre wear, proper rolling
of front wheels and steering stability.
Toe-out: It is the difference in angles between two front
wheels and vehicle frame during turning. It is used to
prevent dragging of tyre during turn.
 Topic: Steering System of a Tractor
Terminology:

Steering Mechanism: There are two types of steering gear mechanisms

1. Davis Steering Gear: The Davis Steering gear has sliding pair, it has more friction than
the turning pair, there fore the Davis Steering Gear wear out earlier and become
inaccurate after certain time. This type is mathematically accurate.
2. Ackermann Steering System: It has only turning pair. It is not mathematically
accurate except in three positions. The track arms are made inclined so that if the axles
are extended they will meet on the longitudinal axis of the car near rear axle. This
system is called Ackermann steering.

Condition for Ackermann geometry is

 Topic: Steering System of a Tractor

Ackermann Steering System: Turning Circle Radius and Ackermann Error

 Topic: Steering System of a Tractor

Outer Wheel Angle

 Topic: Steering System of a Tractor

Ackerman Error
 Topic: Steering System of a Tractor

Steering Effort
Kingpin Torque: The kingpin torque T
required to turn the wheel under a Kingpin Torque:
vertical load W can be calculated
by the following equation: Where b=nominal tyre width
 Topic: Steering System of a Tractor

Kingpin off-set and Steering Effort

 Topic: Steering System of a Tractor

Design: Turning Circle Radius and Ackerman Outer Wheel Angle

 Topic: Steering System of a Tractor

Design of Tractor Steering System – Methodology :

1. Find out C.G location (a2), Turning Circle Radius (R) and Inner-outer steer
angles (δo and δi) of a Tractor model for the given wheel base (l), wheel track
(w) and weight distribution.
2. Select suitable steering linkage (e.g. trapezoidal configuration) and calculate
Ackermann error from the Ackermann theory.
3. Determine kingpin offset and kingpin aligning torque for the given soil and tyre
interaction.
4. Calculate steering effort of the operator and steering wheel rotation angle.
5. Modify and optimize the steering link configurations (Geometrical dimensions
and orientations) by minimizing the Ackerman error and Steering effort of the
operator.
6. The steering effort and steering wheel rotation angles should be even for both
sides of turning (Left or Right).
7. For mechanical steering system, suitable steering gear should be selected.
8. For hydraulic steering system, suitable pump and metering device are to be
selected.
 References
Liljedahl, John B., et al. Tractors and their power units. No. Ed. 4. American Society of
Agricultural Engineers (ASAE), 1996.
Goering, Carroll E. Engine and tractor power. No. Ed. 3. American Society of
Agricultural Engineers (ASAE), 1992.
Goering, Carroll E. Off-road vehicle engineering principles. (2003).