Dear Ackermann friends
I would like to add some simulation fun to the game of inventing ackermann setting theories. To play please download the simulation file from
http://rapidshare.de/files/11946318/Ackermann2.geo.html
To execute the simulation download the shareware program Euklid DynaGeo from
http://www.dynageo.de/
Unfortunately the program is only available in german language. I hope you are all cosmopolitan enough to figure out how it works. To play with the prepared simulation just load the file into DynaGeo and grab the servo saver with the mouse pointer and see what happens.
The sim is at the moment not reflecting real T2 geometry. If somebody can measure the details (see attached pic) we can finally answer the effects of the ackermann settings. As it is a 2D sim, 3D effects like from differences in pivot niveaus are not taken in account, but should be negligable anyhow.
Btw: when playing with the ackermann settings in your T2 bare in mind that you always not only affect ackermann (difference in angular rates l/r) but also the progressiveness of the steering curve at all. To model the overall resulting steering response curve of both wheels with respect to linear transmitter input you also would have to take in account the non-linearity of the servo input (induced by the fact that both servo pivot ball and pivot ball on receiving servo saver arm are on circular movements).
alpha, l1 to l4 think are self explaining
l5 can take in account the inner setting change option
l2 can take in account the outer setting change option
Have fun playing the ackermann
PS: As DynaGeo is not really designed for kinematics simulation I would be grateful for hints towards other programs that could do the job.