Abstract: According to no available calculation method and a guidance formula during the design of the steering system of the flame proof rubber tyre articulated V ehicle with double driving axles, with the pivot steering kinematics and dynamics model under the condition of a no-load and full load working established for the flame proof rubber tyre articulated vehicle with the double driving axles, a relationship between the wheel speed and the bending angle was derived and the tyre rolling, tyre d eflection and steering resistance torque of the tightened driving parts were analyzed.The calculation formula of the pivot steering resistance torque under the no-load a nd full load conditions was provided with the nominal displacement principle.The results showed that the steering resistance torque calculated with the formula could m eet the actual measured results with an error within 10% and could provide the reference basis to the design of other steering system for the articulated vehicle with do uble driving axles.