Homogeneous transformation and kinematics of a steering tyre

When steering about the titled kingpin axis, the tyre-road contact point moves along the tyre perimeter. In the literature on the tyre kinematics, this displacement, however, has not been taken into consideration. This results in an inaccuracy in the steering tyre kinematics, especially when the steering angle is large. This paper presents a novel method, utilising homogeneous transformation, to develop the kinematics of a steering tyre with the chance of the tyre-road contact being taken into account. The results show that this novel kinematic model is more accurate than those in the literature. The steering tyre kinematics developed in this investigation is then compared to that one built in ADAMS software for validating purpose. © 2019, Springer Nature Switzerland AG.