Here's a bit of vehicle dynamics, drawn by the Inkscape software (nothing wrong with promoting free software!). The steering geometry and other dimensions for CE Bot can be roughly guessed here using the Ackerman Equation, where x is the centerpoint of rotation:
Using that equation, we can also set the dimensions of the CE Bot itself in relation to a targetted steering angle. I think this equation applies for low speed maneuvers.. it should be ok for CE Bot
Any mechanical CEans want to give input on this?
You'll notice that steering the front and rear wheels gives a very tight turn. As I've mentioned in my earlier posts, the middle set of wheels can be moved freely laterally. I'll draw a more detailed diagram next time.
Hopefully this info helpful for those who plan to draft a CE Bot design with 6 wheels on CAD