"

A Project Report
On

Development of Electric Personal
Transporter Based on Lean to Steer
Mechanism

Submitted in partial fulfillment of the requirements for the
Degree of
Bachelor of Engineering
In
MECHANICAL ENGINEERING
R.T.M. Nagpur University, Nagpur.

Under the Guidance of
PROF.NAFEES P. KHAN



Submitted by

Nehal Ahmad Shaikh Mohd. Zuber
Naseem Qureshi Sharique Shaikh
Shaikh Aatir Jawwad A.K. Lodhi

DEPARTMENT OF MECHANICAL ENGINEERING
ANJUMAN COLLEGE OF ENGINEERING
&TECHNOLOGY, NAGPUR
2011-2012

#
Development of Electric Personal
Transporter Based on Lean to Steer
Mechanism

Project report submitted to the faculty of Engineering and
Technology of R.T.M. Nagpur University, Nagpur, in the partial
fulfillment for the award of the degree of Bachelor of
Engineering (Mechanical Engineering)

By
Nehal Ahmad Shaikh Mohd Zuber
Naseem Qureshi Sharique Shaikh
Shaikh Aatir Jawwad A.K. Lodhi






PROF. NAFEES. P.KHAN PROF.AKASH M. LANGDE
GUIDE HEAD OF DEPARTMENT
Mechanical Engineering Dept.


Prof Dr. M.Saleem
PRINCIPAL

Department of Mechanical Engineering
ANJUMAN COLLEGE OF ENGINEERING
&TECHNOLOGY,
NAGPUR


$
DEPARTMENT OF MECHANICAL ENGINEERING

ANJUMAN COLLEGE OF ENGINEERING
&TECHNOLOGY, NAGPUR


CERTIFICATE

This is to certify that projectees mentioned herein, student of
Eight Semester B.E (Mechanical Engineering) has completed
satisfactorily his thesis work on Development of
Electric Personal Transporter Based on Lean
to Steer Mechanism under my guidance and
supervision in the Mechanical Engineering Department
ofAnjuman College of Engineering &Technology, (R.T.M.
Nagpur University, Nagpur).
This is in the partial fulfillment of the requirement
for the award of Graduation Degree of Mechanical
Engineering of R.T.M. Nagpur University, Nagpur. The thesis
work submitted above is a bonafide work of the projectees, at
the institute during the academic session of 2011-2012.

Nehal Ahmad Shaikh MohdZuber
Naseem Qureshi Sharique Shaikh
Shaikh Aatir Jawwad A.K.Lodhi



Place: PROF. NAFEES P.KHAN
Date: Guide

%
DEPARTMENT OF MECHANICAL ENGINEERING
ANJUMAN COLLEGE OF ENGINEERING
&TECHNOLOGY, NAGPUR

DECLARATION

I herewith submit the project report entitled
Development of Electric Personal Transporter
Based on Lean to Steer Mechanism to Anjuman
College of Engineering & Technology, Nagpur (R.T.M. Nagpur
University) for award of degree of Bachelor of Engineering in
Mechanical Engineering under the guidance of Prof. Nafees .P
Khan Lecturer, Dept. of Mechanical Engineering A.C.E.T,
Nagpur.
This project report has not been submitted to any other
university or institution for the award of any degree.




Nehal Ahmad Shaikh MohdZuber
Naseem Qureshi Sharique Shaikh
Shaikh Aatir Jawwad A.K. Lodhi



Date:

Place: Nagpur



&
ACKNOWLEDGEMENT

I experienced that the saying, There is no way
without a guide in life, is really true, while working for the
project.
The labor and support of many individuals has
blossomed in this challenging project work. It would be most
selfish or my part not to mention their names in this edifice,
none the less is most difficult to single out every individual.
I extend my deep appreciation to all those who
have helped for completion of this project work.
The words Sincere Gratitude will not be
adequate to express the feelings I have for our honored Prof.
Nafees .P Khan. I am indebted to him for their valuable
guidance and inspiration constantly provided till the end. This
chapter must be closed with a word of praise and gratitude
towards Prof Dr. M.Saleem, Principal and Prof.Akash M.
Langde. Head of Department who provided all necessary
facilities and requirements.
Lastly, I thank all those who directly and
indirectly helped and co-operated in completion of this
project.
Nehal Ahmad Shaikh MohdZuber
Naseem Qureshi Sharique Shaikh
Shaikh Aatir Jawwad A.K. Lodhi





'

ABSTRACT

A personal transporter is a device, which carries a person from one place to
another place. This segment of vehicle may include conventional vehicle such
as cars bikes mopeds, etc. another specific type of transportation device is a
standup transporter such as Segway that has been introduced in the recent
past. it is a very convenient electric mode of transportation that requires
standing posture to drive the vehicle. Particularly Segway is an intelligent self-
balanced vehicle which uses gyroscopic sensors to detect the motion of the
driver so that he can accelerate, brake or steer the vehicle. It may cost
anywhere between !.4-6 lakh which is its major disadvantage. In a country
like India, where cost plays a major role in decision making a system as costly
as this is bound not to succeed.
So we want a design which can overcome the drawbacks of the existing
design of a conventional vehicle and also it should take benefit of the standup
transportation and it should also contain the features of an electric vehicle
because the present situation is such that it demands those vehicle which
causes less pollution as 73.0% of the CO
2
emissions
[1]
is caused by roads
vehicles. Now for making the system cost effective we have incorporated lean
to steer mechanism in our design so as eliminate the costly electronic
components. The main advantage of this mechanism is that it makes the
vehicle more stable at high speed turns so that even a four wheeled vehicle
can take a turn like a sports bike by leaning to its side. This effect neutralizes
the centrifugal force which is acting on the vehicle and makes it more stable
during turning. This paper is aimed at implementing it to a personal electric
transporter, a vehicle in a segment of stand up transportation which will
combine the advantages of leaning vehicles, stand up transporter and electric
vehicles.






(

CONTENTS

Sr. No Topics Page No
Chapter
No.1
OVERVIEW
1.1 Introduction
1.2 Objectives
1.3 Reasons for selecting the project
1.4 Salient features of the vehicle

1-2

Chapter
No.2
LITERATURE REVIEW
2.1 Stabilized Three-Wheeled Vehicle
2.2 Leaning Vehicle with Centrifugal force compensation
2.3 All-Terrain Sport Board & Steering Mechanisms for the Same
2.4 Recumbent Bicycle with Controlled Wheel &Body & Lean
2.5 Lean to Steer Recumbent Vehicle

3-7
Chapter
No.3
FORMULATION OF PRESENT WORK
3.1 Present Work
3.1.1 Segway Human Transporter
3.1.2 Trikke
3.1.3 Vee-Way

8-11
Chapter
No.4
DESCRIPTION OF LEAN TO STEER MECHANISM
4.1 Working
4.2 Basic Components of Lean to Steer Mechanism
4.2.1 Frame
4.2.2 Steering Linkage
4.2.3 Wheel Fork
4.2.4 Handle
4.3 Other Components
4.3.1 Rod End Bearings
4.3.2 Hub Motor
4.3.3 Battery

12-18
Chapter
No.5
DESIGN OF MECHANISM
5.1 Calculations for Degree of Freedom
5.2 Design Calculations
5.2.1 Design of Steering Linkage
5.2.2 Design of Ball Bearing
5.2.3 Design of Frame
5.2.4 Design of Wheel Fork

19-25
Chapter
No.6
RESULTS & DISCUSSIONS / CONCLUSIONS 26-27
Chapter
No.7
FUTURE SCOPE 28
REFERENCES
)

CHAPTER 1

OVERVIEW
1.1 Introduction

An electric personal transport is a vehicle which can carry persons from one
place to another there are many kind of personal transporter and in that one
type is stand up transportation vehicles these are used for traveling short
distances so as to reach the destination in no time these vehicles are light in
weight and some are so compact that they can be carried along the way. This
revolution of personal human transporter came in 2001 by a company called
Segway. The Segway Human Transporter (HT) was a revolutionary new way
of moving people around. Consisting of a standing platform between two
coaxial wheels with handlebars protruding up from it, its stability seems an
impossible feat. Due to a very robust and responsive control system coupled
with various sensors and actuators, the Segway HT is almost impossible to
fall off
[2]
but in India cost plays a major role and Segway costs around 4 to 6
lacks, because of its highly efficient electronic components, so here comes
the need of a cost effective personal transporter.
So to replace the electronic components we have implemented the lean to
steer mechanism to the transporter. but what does lean to steer actually
means. It working is simple when a person, standing on the vehicle, want to
turn left he just have to shift his weight to the left side and whole vehicle will
turn in the left direction. The first of its kind was seen in the year 1995 this
board was made by the famous car company BMW the initial models were
very bulky and very long with a large turning radius. The large turning radius
was a big disadvantage for these kind of boards so the Company come up
with new models of these skateboards but the use of this mechanism is not
only restricted to skateboards. The car company called Nissan recently
launched its first concept car called LAND GLIDER which uses this
mechanism
[3]
.



*
1.2 Objectives

The main objective is to make a cost effective vehicle for multipurpose use in
industries, large warehouse on footpaths etc. The objective behind the
selection of this topic for our project is that we will try to develop a small,
compact and light in weight personal electric transporter, a vehicle in a
segment of stand up transportation which will combine the advantages of
leaning vehicles, stand up transporter and electric vehicles, That will be easily
maneuverable and will be simple in design and will be fairly affordable so that
even a small industry owner can buy the said personal electric transporter.

1.3 Reasons for Selecting the Project

! To make the personal stand-up transporter personal in India.
! To introduce Lean-to-Steer mechanism in personal transporter.
! To make transportation pollution free.
! To minimize the cost of personal transportation.
! Reduction in transportation time will be effected.
! To make the transportation fatigue & stress free.

1.4 Salient Features of the Vehicle
! The vehicle has got the ability of lean to steer
! It has got the electric driving system
! As it uses battery power hence no problem of emission
! It can be disassembled easily hence easy to carry
! Compact and light weight
! Easy maneuverability
! Our transporter has got all four independent tilt-able wheels
! There is no rigid axle between the wheels so one wheel can move
independent of other
! The effect of independent tilt-able wheels is that the forces are lined up
and axial load on the bearings during turning
! The vehicle is having such a configuration that it does not require any
registration or license .
"+
CHAPTER 2

LITERATURE REVIEW

There are different papers have been written in recent times on equivalent
system. They are;

2.1. Stabilized Three-Wheeled Vehicle[3]*

A three wheeled motorcycle in which two front wheels are interconnected with
a conventional motorcycle frame by parallelogram configured coupling
assembly utilizing a pair of cross members pivoted connecting hubs of the
front wheels and pivotall connected to the frame, Foot resting platforms are
positioned on either side of the motorcycle, being fixedly connected to one of
the crossmembers in the front and pivotally connected to the motorcycle
frame at the rear.



Fig. 2.1 Stabilized Three-Wheeled Vehicle



""
2.2 Leaning Vehicle with Centrifugal Force Compensation[4]*

A three wheeled vehicle, with two steerable front wheels and a driven rear
wheels which may be either rider or motor powered includes steering linkage
disposed adjacent to the lower end of the steering column having a handlebar
attached to its upper end. The steering linkage pivotally couples a forward
frame to a rear frame which support the rider and includes the rear wheels
and its mean for propulsion. The steering linkage includes a pivot shaft, a
bearing housing and a mechanical connection for leaning the rear frame in a
direction of a turn so as to compensate for centrifugal force encountered in
turning the vehicle. The mechanical connection causes the rear frame to lean
in a controlled relationship to the amount of rotation of the steering shaft,
within rotational limits, to emulate the leaning action of a conventional bicycle
when making a turn.





Fig. 2.2 Leaning Vehicle with Centrifugal Force Compensation





"#
2.3 All-Terrain Sport Board & Steering Mechanisms for the
Same

An all-terrain sport board especially adapted for riding on rough out-door
terrain large pneumatics wheels , a large frame and a spring steering
mechanism that enables the rider to tip the board and the wheels to much
greater degree than would be possible with a conventional boards. The
steering mechanism provide polymeric shock absorbers of varying
configuration to enhance the ability of the rider to make the athletics
maneuvers and jumps with the board without undue turbulence in the ride.

Fig.2.3 All-Terrain Sport Board & Steering Mechanisms for the Same











"$
2.4 Recumbent Bicycle with Controlled Wheel &Body &
Lean[5]*

Three wheeled vehicle with an adjustable leaning and steering mechanism,
permitting operator controlled wheel and body lean as a vehicle is taking a
turn. The vehicle (100) has a leaning main frame (20) that carries a pedal (21)
and crank assembly (22), recumbent seat (30) and rear wheel (40). Towards
the front of the vehicle (100), a perpendicular axle housing (42) mounted with
pivotal collar (44) allows the main frame (20) to lean right or left. Axle housing
(42) carries the cantilevered steering arm (46) and adjustable steering lever
(48). An axle (56) runs through the axle housing (42) and a spindle (60) and
control arm (58) is pivotally connected to each end of the axle (56). Wheels
(70R 70L) to the main frame (20) so that when the main frame (20) is leaned
all wheels (70R, 70L AND 40) lean, producing simultaneous wheel and body
lean. Tie rod(78) also connect each control arm (58) to the adjustable steering
lever (48) rotating the control arm (58) and axle (56) as a unit .Operator
supplies power to lean frame by use of arms pushing body right or left; the
body ,being cradled in seat(30) causes frame to lean right or left . By rotating
steering lever (48) from vehicle to 45 degrees forward, the effect achieved is
adjustable in relation to the amount of body lean allowing operator to make
wide or tight turn and adjust the amount of lean to compensate for cornering
forces to optimize the center of gravity or go straight and adjust body lean to
compensate for road pitch.


Fig. 2.4 Recumbent Bicycle with Controlled Wheel &Body & Lean
"%
2.5 Lean to Steer Recumbent Vehicle[6]*

Two versions of recumbent human powered three wheeled vehicles are
disclosed. Both are of the tadpole type with two front wheels and one rear
drive wheel. Both versions lean into turns causing weight transfer towards the
inside of turns to prevent roll over during turn at speed.




Fig. 2.5 Lean to Steer Recumbent Vehicle








"&
CHAPTER 3
FORMULATION OF PRESENT WORK
3.1 Present Models
3.1.1 Segway Human Transporter[7]*
The Segway PT is a two-wheeled, self-balancing battery electric vehiclei
nvented by Dean Kamen. It is produced by Segway Inc. of New Hampshire,
USA. The name "Segway" (/"s#$wej/) is a homophone of "segue" (/"s#$we%/)
while "PT" denotes personal transporter.
Computers and motors in the base of the device keep the Segway PT upright
when powered on with balancing enabled. A user commands the Segway to
go forward by shifting their weight forward on the platform, and backward by
shifting their weight backward. The Segway notices, as it balances, the
change in its center of mass, and first establishes and then maintains a
corresponding speed, forward or backward. Gyroscopic sensors and fluid-
based leveling sensors are used to detect the shift of weight. To turn, the user
manipulates a control on the handlebar left or right.
Segway PTs are driven by electric motors and can go up to 12.5 miles per
hour (20.1 km/h).
The Segway PT was known by the names Ginger and IT before it was
unveiled. Ginger came out of the first product that used Kamen's balancing
technology, the iBOT wheelchair. During development at the University of
Plymouth, the iBot was nicknamed Fred Upstairs (after Fred Astaire) because
it can climb stairs: hence the name Ginger, after Astaire's regular film
partner,Ginger Rogers, for a successor product.
The invention, development, and financing of the Segway was the subject of a
narrative nonfiction book, Code Name Ginger (in paperback asReinventing
the Wheel), by journalist Steve Kemper. The leak of information from that
book led to rampant speculation about the "IT" device prior to release. The
speculation created an unexpected advance buzz about the product that was,
at times, hyperbolic. Steve Jobs was quoted as saying that, it was "as big a
deal as the PC",
[1]
though later sources quoted him as saying when first
introduced to the product that its design "sucked". John Doerr speculated that
it would be more important than the Internet.
[1]
Articles were written in major
"'
publications speculating on it being a Stirling engine.
[3]
South Park devoted an
episode to making fun of the hype before the product was released.
The product was unveiled December 3, 2001, in Bryant Park, the privately
managed public park located in the New York City borough of Manhattan, on
the ABC News morning program Good Morning America.

Photo 3.1.1 Segway





"(
3.1.2 Trikke[8]*
The Trikke (pronounced "trike") three-wheeled cambering vehicles are human
powered machines that utilize Trikke Techs patented technology to allow a
rider to propel a chainless, pedal-less device forward without ever touching
foot to ground. This construct provides a stable 3-point platform that lets riders
lean into the turns while all three wheels remain in contact with the ground. An
experienced rider may reach speeds of up to 18 mph (29 km/h) on flat ground,
ride 50 miles in one day, and climb steep hills (with considerable practice).
Propelling a Trikke uphill requires substantially more effort and effective
movement, but can be mastered with experience.
The Trikke requires roughly the width of a downtown sidewalk (1-1.5 m) but
can also operate on city streets. Mastering the correct form necessary for
efficient propulsion requires practice, as it is not a familiar movement for most
new riders. Riders often claim to need a few longer rides to find the "sweet
spot" or ideal movement pattern to effectively ride a Trikke.
Its three point contact structure makes it reasonably stable, but wet pavement
or leaves, or rough gravel under the wheels can cause a rider to possibly tip
over or skid, so helmets are highly recommended.

Photo 3.1.2 Trikke

")
3.1.3 Vee-Way[9]*
A rapidly developing trend using high-performance digital signal processors
commanding a mix of sensors and electromechanical actuators is set to
propel civilization into a new era of compact & convenient transportation
The Electric Personal Transporter (EPT). Although personal transportation
vehicles might appear to be simply an amusement, they might well turn out to
be as disruptive as the personal computer and rapidly evolve as a major force
in the industry.
Just some of the Electric Personal Transporter Utilities as opposed to
automobiles transportations (likes of two wheelers and cars) are as follows:
No Traffic Jams No license, registration, insurance required Easy Parking,
some models can be carried. Easy to maintain Used as a sidewalk vehicle
and avoid roads No Fuel station stops Maneuver Narrow roads
The major players in the Electric Personal Transporter (EPT) market are
Segway, Q Chirot, Chariott Scooters, Dareway, TRX Personal Transporter, T3
Motion, Orbis, EV Rider, Hammacher, Toyota, Honda and Veeway.
The major countries manufacturing EPTs are USA, China, UK, Japan & India.

Photo 3.1.3 Vee-Way
"*
CHAPTER 4

DESCRIPTION OF LEAN TO STEER MECHANISM

4.1 Working of Mechanism
As the name suggests it is a Lean steering mechanism which uses leaning to
stare the vehicle by help of combination of some linkage and bearing
mechanism.
There are four independent wheels attached to the fork type leg, which are
attached to the vehicle in form of two couples in front and rear part of vehicle
via horizontal links. The horizontal link is attached to frame by the help of a
vertical link, which has a spherical joint. There is a steering rod provided
through horizontal link at the each end of which a bush housing is provided
within which fork are attached via ball bearing making to fork capable of
moving to & fro.
The forks are further attached to the vehicle via a couple of rod-end bearing to
provide a degree of freedom.
the vehicle is in Stable position when the weight is balanced but when the
load on the vehicle body is shifted a side It makes the horizontal link to rotate
in a plane perpendicular to the vehicle platform causing forks to move
horizontally to and fro to each other resulting in the turning of vehicle This
motion is restricted by the rod-end bearing link. Further to bring the horizontal
link to its original position a pair of retracting springs is provided.









Fig 4.1 Working

#+
4.2 Basic Components in Lean to Steer Mechanism
4.2.1 Frame

A frame is a basic supporting structure of the vehicle on which a person
stands in upright position. This means that the entire body weight acts on the
frame which is then transferred to the wheels through linkages & the support
reactions from the wheel is obtained. Now for the sake of calculations
suppose that the load acts on the center of the beam of frame.


Fig. 4.2.1 Frame



4.2.2 Steering linkage

The steering linkage is a portion of the mechanism, which directs the vehicle
when unbalanced weight acts on it. It can be considered as a simply
supported beam with its ends supported in bearings & weight (of the person
standing on the vehicle obtained through load distribution) acting at the center
of the link.

#"
Fig. 4.2.2 Steering Linkage

4.2.3 Wheel Fork

A wheel fork is a structure, which supports the wheel between two forks. A
wheel fork is considered to be a cantilever beam with one end fixed & at the
other end a reaction in terms of force acts on it.

Fig 4.2.3 Wheel Fork












##
4.2.4 Handle
The handle of this vehicle is designed such that it supports the
rider when it takes a turn the handles are the resemblance of the
skiing sticks in case of skiing as these sticks help the skier to keep
him stable during a sharp turn so likewise the two handle in our
vehicle helps it to be driven and maneuverable with a great ease
and comfort


Fig 4.2.4 Handle










#$
4.3 Other Components

4.3.1 Rod End Bearing

A rod end bearing, also known as a helm joint (N. America) or rose joint (U.K.
and elsewhere), is a mechanical articulating joint. Such joints are used on the
ends of control rods, steering links, tie rods, or anywhere a precision
articulating joint is required. A ball swivel with an opening through which a bolt
or other attaching hardware may pass is pressed into a circular casing with a
threaded shaft attached. The threaded portion may be either male or female.
We have used female rod end bearings of 10mm size.


Photo 4.3.1 Female Rod-End

4.3.2 Hub Motor
The wheel hub motor (also called wheel motor, wheel hub drive, hub motor or
in-wheel motor) is an electric motor that is incorporated into a hub of a wheel
and drives it directly.
Hub motor electromagnetic fields are supplied to the stationary windings of
the motor. The outer part of the motor follows, or tries to follow, those fields,
turning the attached wheel. In a brushed motor, brushes contacting the
rotating shaft of the motor transfer energy. Energy is transferred in a
brushless motor electronically, eliminating physical contact between stationary
and moving parts. Although brushless motor technology is more expensive,
most are more efficient and longer lasting than brushed motor systems.
Electric motors have their greatest torque at startup, making them ideal for
vehicles as they need the most torque at startup too. The idea of "revving up"
so common with internal combustion engines is unnecessary with electric
motors. Their greatest torque occurs as the rotor first begins to turn, which is
#%
why electric motors do not require a transmission. A gear-down arrangement
may be needed, but unlike in a transmission normally paired with a
combustion engine, no shifting is needed for electric motors
We have used a 250 Watt-hour brushless DC hub motor.

Photo 4.3.2 DC Hub Motor

4.3.3 Battery
A VRLA battery (valve-regulated leadacid battery) more commonly known as
a sealed battery (SLA) is a leadacid rechargeable battery. Because of their
construction, VRLA batteries do not require regular addition of water to the
cells, and vent less gas than flooded lead-acid batteries.
While these batteries are often colloquially called sealed leadacid batteries,
they always include a safety pressure relief valve. As opposed to vented (also
called flooded) batteries, a VRLA cannot spill its electrolyte if it is turned
upside down. Because SLA VRLA batteries use much less electrolyte (battery
acid) than traditional leadacid batteries, they are also occasionally referred to
as an "acid-starved" design.
Many modern motorcycles and TVs on the market use SLA batteries to
reduce likelihood of acid spilling during cornering, vibration, or after accidents,
and for packaging reasons. The lighter, smaller battery can be installed at an
odd angle if needed for the design of the motorcycle. Pedal bicycles also use
these batteries for homebrew lighting.
Due to the higher manufacturing costs compared with flooded leadacid
batteries, SLA batteries are currently used on premium vehicles. As vehicles
#&
become heavier and equipped with more electronic devices such as
navigation, stability control, and premium stereos, SLA batteries are being
employed to lower vehicle weight and provide better electrical reliability
compared with flooded leadacid batteries.

Photo 4.3.3 SLA Battery












#'
5.1 Calculation for Degree of Freedom


Fig.5.1 Links and Joints
According to Kutzbach Criterion for plane mechanism, the Degree of Freedom
can be calculated by,
n=3(l-1)-2j-h
l...&.number of links
j&&.number of joints
h&&number of higher pairs

From the fig.
No. of links=8
No. of joints/lower pairs=9
No. of higher pair=2
n = 3 ( 8 1 ) 2 * 18 - 2
n = 1
This can be verified from the mechanism as it requires only one input link




! #$%&'(
! #$%&'(
) #$%&'(
* #$%&'

+%&, *-.%/012

2
!3%4506


+%&, ! 7 8

+%&, )
+%&, 9 7 :

+%&, ; 7 <
#(
movement for the entire mechanism to work.

5.2 Design Calculations
5.2.1 Design of Steering Linkage
The steering linkage is a portion of the mechanism, which directs the vehicle
when unbalanced weight acts on it. It can be considered as a simply
supported beam with its ends supported in bearings & weight (of the person
standing on the vehicle obtained through load distribution) acting at the center
of the link. The beam diagram is as shown in the Fig.













Fig.5.2.1 Load Diagram of Steering Linkage


For a simply supported beam[9]* having a load at its center, the moment of
force acting on it may be given by,
! !
!"
!

! !
!""!!"#
!

M=38200 N-mm
As we know that,
!"!
!"#
! # $%% &
!"
#)
!! !
!
!

'
b
-------------bending stress
Z--------------section modulus for circular cross section
! !
!
!"
!!
!

! !
!
!"
!!"#
Z=169.64 mm
3
Therefore,
!! !
!"#$$
!"#!!"

'
b
= 225 N/mm
2

From the design data book, for SAE 1040(commercial name EN8)
S
eb
=260 N/mm
2
> '
b

Hence, the design is safe.

5.2.2 Design of Ball Bearings
The steering linkage is supported in bearing from both the sides as shown in
the fig above. A radial load of 250 N acts on the bearing (obtained again
through the load distribution).


Fig.5.2.2 Ball Bearing

For a service life of One year, the capacity of the bearing is found out.


1
!"#$%&
#*
! !
!
!"
!

C---------specific capacity of the bearing
F
e
--------equivalent load
n=3------for ball bearing
For a life of One year at approx. 100rpm
L=320*24*60*100
L= 4.6 MR
For equivalent load
F
e
= (X*F
r
+ Y*F
a
) K
s
*k
o
*k
p
*k
r
F
a
=0--------no axial load on the bearing
K
s
=2--------light shock load
K
o
=K
p
=K
r
=1
F
e
= 1*250*2
F
e
= 500 N
Therefore,
C= 778 N
For 12mm diameter rod, the last two digits of the bearing no. is 01.
Based on the specific capacity & the standard availability of the bearing,
Bearing number 6201 is selected having specific capacity for static condition
as 3050 N.

5.2.3 Design of Frame
A frame is a basic supporting structure of the vehicle on which a person
stands in upright position. This means that the entire body weight acts on the
frame which is then transferred to the wheels through linkages & the support
reactions from the wheel is obtained. Now for the sake of calculations
suppose that the load acts on the center of the beam of frame.
The fig. is as shown below.
$+


Fig.5.2.3 Design of Frame

For a simply supported beam having a load at its center, the moment of force
acting on it may be given by,
! !
!"
!

! !
!"""!!""!!"
!

M= 158370 N-mm
As we know that,
!! !
!
!

'
b
-------------bending stress
Z--------------section modulus for hollow square
! !
!
!
!!
!
!!!

! !
!"!!
!
!!"!!
!
!!!"!!

Z=1801.73 mm
3
Therefore,
!! !
!"#$%&
!"#!!!"

'
b
= 87.89 N/mm
2

From the design data book, for
S
eb
= N/mm
2
> '
b

Hence, the design is safe.

!"#$%&
!""#$%
! # $%%%
!
!"#$
!"#$
$"
5.2.4 Design of Wheel Fork
A wheel fork is a structure, which supports the wheel between two forks. A
wheel fork is considered to be a cantilever beam with one end fixed & at the
other end a reaction in terms of force acts on it. The load diagram for the
beam is as shown in the fig.



Fig.5.2.4 Design of Wheel Fork

! ! !"#!!"#!!"
M= 70122.48 N-mm
As we know that,
!! !
!
!

'
b
-------------bending stress
Z--------------section modulus for hollow square
! !
!
!
!!
!
!!!

! !
!"!!
!
!!"!!
!
!!!"!!

Z=1801.73 mm
3
Therefore,
!! !
!"#$$!!"
!"#!!!"

'
b
= 38.91 N/mm
2

From the design data book, for
S
eb
= N/mm
2
> '
b


!"#$
!"#$
!"#
!"# %
$#
Hence, the design is safe.

































$$
CHAPTER 6
RESULT & DISCUSSION / CONCLUSIONS

6.1 RESULT & DISCUSSION

The results of implementing the lean to steer mechanism to a personal
electric transporter are as follow
! Results of Synthesis
" Maximum Traversal Angle in Each Direction= 10
" Maximum Turning Radius = 9.5 Ft
! The costly electronic components of the traditional design are replaced by
the mechanical linkages so the cost of whole vehicle can be effectively
reduced
! As the vehicle is developed in category of standup transportation it is very
light in weight as compared to other vehicles
! The lean to steer mechanism has its own advantages like at high speed
turning the vehicle is more stable than any other four wheeler
[4]

! Due to leaning the centre of gravity of the vehicle is always balanced and
the resultant forces and their reactions are lined up so no axial force on
the bearings
[5]

! As this mechanism contains no rigid axle between the two wheels hence
all the four wheels are always in contact with ground and hence the
traction is increased
[6]

! At high speeds there is negligible speed wobble
[7]

! As the vehicle is an electric vehicle its prime mover that is an electric
motor is 90% to 95% efficient so we get 95% of the power of the batteries
in the road wheels
[8]

! The electric driven vehicles are 11 times more energy efficient then a
average car and 17 times more energy efficient than a large SUV
[9]







$%
6.2 CONCLUSION
! The results obtained are quite favorable which was expected. In the tenure
of the project so many hurdles were arose, but that was overcome and the
approaches has been discussed.
! The conclusion is thus found out to be, the vehicle which we have
developed is light in weight & very much energy efficient and last but not
the least its costs is very less than an conventional standup transporter
namely Segway .


























$&
6.3 COST




























Sr .No Particulars Specifications Rete Qty. cost
01. Motor 250 W, Brush
less DC hub
motor
6000 1 6000
02. Controller 15A, 48V 1500 1 1500
03. Battery 7A, 12V 610 4 2440
04. Harness ----- 400 1 400
05. Rod-end
bearings
Female type,
I.D (12mm
150 8 1200
06. Fabrication 1 in. square
pipe
----- -- 5000
07. Wheel ( 16 *03 in. 1000 3 3000
Total 19,540.00
$'
CHAPTER 7
FUTURE SCOPE

The future scope of this type of vehicle s is very vast in nature the vehicles
can be used for traveling on the footpaths or it can be used for patrolling by
the police or it can be used just for fun when talking about the need for lean to
steer mechanism hundreds of people are dying in road accidents in the
present scenario and most of the accidents are caused during turning so the
whole transport system need a change and the mechanism like lean to steer
are more sensitive to the human reflexes and can save human lives to a great
extent if implemented.

















$(
Photographs Of the Model



Photo: CAD Model of the Vehicle




Photo: Exploded View of the Vehicle
$)

Actual Photograph of the Model


Vehicle during Turning
$*

REFERENCES

1. CENTRAL POLLUTION CONTROL BOARD (Ministry of
Environment & Forests, Govt. of India) East Arjun Nagar, Delhi
110 032 (March, 2010)
2. State-Space Control of Electro-Drive Gravity-Aware Ride (Final
Report Oct 20th, 2006)
3. US Patent No 4020914
4. US Patent No 4903857
5. US Patent No 5997018
6. US Patent No 6402174
7. US Patent No 7976046
8. www.segway.com
9. www.trikke.com
10. www.veeway.com
11. Machine Design by R.S.Khurmi Gupta
12. www.nissan-global.com/EN/index.html
13. report of BMW street carver (BMW corporation)
14. www.flexboardz.com/riders-area/atelier/technicz
15. www.flexboardz.com/riders-area/atelier/technicz
16. www.flexboardz.com/riders-area/atelier/technicz
17. Estimating the technology frontier for personal electric vehicles Karl
T. Ulrich (Department of Operations and Information Management
and Department of Mechanical Engineering and Applied
Mechanics,)
18. The Role of the Segway Personal Transporter (PT) in Emissions
Reduction and Energy Efficiency (John David Heinzmann and B.
Michael Taylor,Segway Inc.)