Structural synthesis of South Pointing Chariots with a fixed axis wheel system

South Pointing Chariot is one of the important mechanical inventions in ancient China. It achieves the purpose of fixing direction by applying mechanical devices with either the fixed axis wheel system or the differential gearing system. In this study, the historical background and records of South Pointing Chariots are introduced. The characteristics of existing designs of South Pointing Chariots with a fixed axis wheel system are analyzed. Representations to identify different axial directions of joints and characteristics of members are presented. A design methodology is proposed to synthesize all feasible design concepts of South Pointing Chariots with a fixed axis wheel system systematically. And, three examples are provided.