以阿克曼原理为基础，分析传统转向梯形机构的传动，指出其原理误差存在的原因；
The transmission of tradition steering echelon mechanism is analyzed by the aid of the principle of Ackerman, and the existed theory error is pointed out.
在分析了阿克曼转向原理的基础上，通过对现有的梯形转向机构进行分析，指出其不能完全满足阿克曼转向原理。
Based on analyzing the existing Ackerman steering principle and trapezoidal steering mechanism, it is impossible completely conform to the Ackerman steering principle.
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