Do the front wheels of your car really meet Ackermann's principle when driving through a bend of the road?

In the past, a trapeziformed four-bar has often been used to realize the unequal turning of these wheels. Geometrically, however, this deviates considerably from the required (relative) motion as dictated by Ackermann's Principle. A better mechanism to approximate this principle would be a six-bar (focal) linkage that is to be derived from a crossed Chebyshev four-bar. The six-bar then has a common crank in the middle, driving each wheel through a crank-and-rocker mechanism. An additional advantage would be the possibility to choose the location of the fixed center about which the common crank rotates. This freedom enables the designer to interconnect his steering wheel and fusée-mechanism in a more convenient way. (Totally, a number of ..3 cognate-solutions emerge for eachoptimized 4-bar of the Chebyshev-type