In the of vehicles with multi wheel drive, if the rotation axis of all the propulsion
wheels intersects in the center line of rotation of the body, all wheels draw the turn
tracks of pure circle, and an ideal propulsive performance is obtained.
However, the axle of the propulsion wheel doesn't intersect in one point, which creates
transverse force in the direction of drive shafts.
As a result of this force, sideway slipping motion is generated.
Therefore, it is necessary to examine the distribution ratio of the transverse force of
each drive shafts, so that the turning characteristics of the body can be reasonably
evaluated.
In addition, it can be optimized if the distribution ratio of the transverse force is set
even.
