12th IFToMM World Congress, Besanon (France), June18-21, 2007

Non-circular gear wheels in the geared-linkages mechanisms

E.-C. Lovasz1
Universitatea Politehnica
din Timioara, Romania

K.-H. Modler2
Technische Universitt
Dresden, Germany

D. Perju3
Universitatea Politehnica
din Timioara, Romania

R. Neumann4
Technische Universitt
Dresden, Germany

D. Mrgineanu5
Universitatea Politehnica
din Timioara, Romania

M. Perner6
Technische Universitt
Dresden, Germany

AbstractIn this paper a method to compute the

centroidal geometry of non-circular gear wheels in gearedlinkages mechanisms and the transmission functions of the centroides, which usually exhibit a very high non-linearity, is presented. The calculus leads on the computation of gear wheel pair
with non-constant input movement and the investigation of relevant boundary conditions. The synthesis method to compute of
parallel connected mechanisms introduces a simple, generally
valid concept for the solution of practical-relevant tasks. It
improves the tuning of the non-linearity of the whole mechanism
and the non-linear transmission of the centroides. The kinematical characteristics of geared linkages mechanisms are also
optimized.
Keywords: synthesis, non-circular gear wheels, transmission functions

In this paper, the procedure to compute the centroidal

curves and the transmission functions of non-circular gear
wheels or centroidal segments (similar to the circle arcs)
with nonlinear boundary conditions is presented.
In technical literature many papers are found about noncircular gear wheels, for example [4], [6], [8], [11], [12].
Mechanisms with a non-circular gear wheel pair as connected mechanisms are presented in [2] and [3]. In this
paper the equations are generally represented for the computation of centroides, so that centroidal curves for linear
actuators also can be computed. The elliptic wheels or
congruent non-circular wheels (arbitrary transmission
ratio) appear as particular cases. The general computation
method allows the determination of non-circular gear
pairs also for the employment as connected gear pairs.

I. Introduction
Geared linkages mechanisms are suitable to obtain large
swinging angles motion (windscreen wiper transmissions),
pilgrim-step motions, step motions, dwell motions and
motion with approximately constant transmission ratio
ranges. This type of mechanisms contains structurally a
bar mechanism and one gear wheel pair, which are parallel coupled to the bar mechanism. The most mentioned
kinematical characteristics are already done with the combination of a four-bar mechanism and a circular geared
pair (Fig. 1a).
The demand to obtain a dwell or a constant transmission
ratio within a range, the higher derivatives of the first
order transmission function of the mechanism have to be
zero. It suggests the employment of non-circular gear
wheels. These transmission functions can not be realized
with five elements geared linkages mechanisms with circular wheels, but are possible by the use of non-circular
gear wheels (Fig. 1b).
_________________________
1
2
3
4
5
6

E-mail: [email protected]
E-mail: [email protected]
E-mail: [email protected]
E-mail: [email protected]
E-mail: [email protected]
E-mail: [email protected]

y
3
()

23
35
2

35

()

14
1

()51
a)

()

23

()

12=15=25

()

()

()

12=15=25
5

()

14
1

()51
b)

Figure 1. Five-elements geared-linkages mechanisms

a) with classic circular gears
b) with non-circular gears

II. Synthesis method

The centroidal curves calculus considers the invers motion in the gears reference system (the crank 2 will be
now the frame). The input and output angles of the gear
wheel in the reference system are given by the angular
transmission functions = ( ) ( = + ) and
52 = 52 ( ) , respectively (s. Fig. 1, 2).
In order to obtain an even translation movement, the instantaneous axis base vector A = A( ) is set. The instanta-

12th IFToMM World Congress, Besanon (France), June18-21, 2007

neous rotation pole (center) 35 of the geared pair is

marked with X1 in the plane 1 of the input wheel and
with X2 in the plane 2 of the output wheel.
The centroidal curves described by these points in the
reference system X0OY0, according to Fig. 2, are given by
the following basic relationships:

= 1 is obtained.
so that an average transmission ratio 52
In this case continuous convex centroidal curves are develop and during the movement range, with constant
transmission ratio, all higher derivatives starting from the
second order are zero (Fig. 4a).

34

Y0

x1

y1

1
()
X1

M1
X0

y2

C X
2
A

x2
()52

23
35

M2
2

14

12=15=25
5

X0

Fig. 2. Computation model of the geared linkages mechanisms

X 1= ( X 0 M 1 )e i ( ( ) ( 0)) =

1
( 52 ( ) A i A) e i ( ( ) (0)) ,

(
)
(
)

52

X 2 = ( X 0 M 2 )e i ( 52 ( ) 52 (0)) =

1
( ( ) A i A)e i ( 52 ( ) 52 (0)) .

52 ( ) ( )

(2)

When M 1 = 0 , A= const. , = ( ) , 52 = 52 ( ) , both

planes make pure rotation movements. From the relationships (1) and (2) it is obtained:
( )

52
A e i ( ( ) ( 0)) ,
X 1 =
(3)

52

( )
A e i ( 52 ( ) 52 ( 0)) ,
X 2 =

52 ( ) ( )

Fig. 3. Geared linkages mechanism with crank rocker and

non-circular gear wheel pair. Numerical example

(1)

(4)

which are the representations of non-circular gear wheels

as parameter functions. The centroids curvatures are functions of the first derivatives rotation angles.

The crank rocker as basic mechanism has the dimensions l1 = l 3 = l 4 = 2 and l 2 = 1 . With the vectorial
equation of the closed loop (s. [7])
l 2 e i + l 3 e i ( ) = l1 + l 4 e i ( )

the 0 order implicit transmission equation of the basic

mechanism is obtained
F ( , ( )) = 0 = l12 + l 22 + l32 l 42 2l1l 2 cos( )

from which the desired transmission function = ( ) is

to be determined. It resuts:

5115

51 = 51 ( ),

= 51
( ) ,
51

(5)

15

[rad] 13.5
51
12
[-]

10.5

' 51( t)

A. Realization of constant transmission ratio

In this example the constant transmission ratios have to
be obtained with a geared linkages mechanism, consisting
of crank rocker and a non-circular gear wheel pair (Fig. 1b
and Fig. 3). The output wheel 5 should be jointed in the
frame point 12. The target transmission function of the
output element is given by a suitable spline function

(7)

2l1l3 cos( ( )) + 2l 2 l3 cos( ( )),

51( t)

III. Examples

(6)

()

9
7.5
6
4.5

51 ()

3
0

51

1.5
0

0
0

1.26

2.51

3.77
( t)

5.03

6.28

[rad]
2

Fig. 4a. Transmission functions of geared linkages mechanism

with crank rocker and non-circular gear wheel

12th IFToMM World Congress, Besanon (France), June18-21, 2007

a( ) = 2l3 (l 2 cos l1 ) ,

5
[rad]
4.2

[ - ] 3.4

b( ) = 2l 2 l 3 sin ,

c( ) =

2.6

' ( t)

1.4
2.2
0

1.26

2.51

3.77

5.03

2t

6.28

[rad]

(10)

(11)

l 2 l 3 sin( ( )) l1l 2 sin

.
l 2 l 3 sin( ( )) + l1l 3 sin ( )

(12)

5.65

52
5.03
[-]

4.4

52

The angle functions (10) and (12) are represented in

Fig. 4b. With the angle functions (5), (8), and (10) all
necessary equations for the synthesis are determined. The
recomputed transmission function of the output gear
wheel (s. Fig. 4c) after the inverse motion is:

()

3.77

52 ( t)
52 ( t )

3.14

52 ( ) = 51 ( ) .

2.51
1.88

52 ()

1.26
0

( ) = ( ) 1 .

( ) =

6.28

52
2
[rad]

2l1l 2 cos .

By differentiation of implicit function (7) it is obtained:

Fig. 4b Angular functions of the coupler in respect to the crank

(in the inverse motion)

(9)
l 42

The first derivative ( ) is to be determined in order

to compute the centroidal curves according to relationships (3) and (4). Through differentiation, from (10) is
obtained:

()

0.6

+ l32

( ) = ( ) + .

0.2

+ l 22

The relationship of the coupler (element 3) rotation angle in respect to the crank 2 in inverse motion is:

()

1.8

( t)

l12

0.63
0

1.26

2.51

3.77

5.03

6.28

[rad]
0
( t)
2
Fig. 4c.Target function and transmission ratio of the
output wheel in the inverse motion

52 6.28
[rad]
2
5.65

(13)

With the relations (3) and (4) the centroidal curves of

the non-circular gears are to be calculated. Figure 3 shows
the non-circular wheels in the starting position. The link 2
will be the frame length for the mechanism with noncircular gear wheels. As the next step the 0 order transmission function of the mechanism with non-circular gear
wheels is to be determined. In addition, the relationship
(10) has to be substituted in (7), from which the implicit 0
order transmission equation of the geared mechanism
(elements 3 and 2) results as:

5.03

F0 ( , ) = 0 = l12 + l 22 + l32 l 42 2l1l 2 cos( )

4.4
3.77

52 ( t) 3.14

52

2l1l3 cos( + ) + 2l 2l3 cos( ) .

()

The explicit inverse function follows by reformulation:

2.51

b( ) a 2 ( ) + b 2 ( ) c 2 ( )

,
a( ) c( )

1.88
1.26
0

0.63
0

1.26

2.51

3.77

5.03

6.28

[rad]
Fig. 4d. The 0-order transmission function of the non-circular
gear wheel mechanism.

b( ) a 2 ( ) + b 2 ( ) c 2 ( )

,
(
)

(
)
a

( ) = 2arctan
with:

(14)

( ) = 2 arctan

(15)

with:
a( ) = 2l1 (l 3 cos l 2 ) ,
b( ) = 2l1l 3 sin ,

(16)

c( ) = l12 + l 22 + l 32 l 42 2l 2 l3 cos .

(8)

The Equation (15) describes the angular function of

crank 1 with respect to frame 2 in the inverse motion. The
relative angle (s. Fig. 1, 2) will be thereby the new
parameter and the angle can be eliminated.

12th IFToMM World Congress, Besanon (France), June18-21, 2007

In order to obtain the correct inverse function, the initial

position of the coupler in respect to the crank will be considered through:

(0) = ( = 0) .
Using a parameterized t function

(17)
(18)

with t R 0 t 1 , by replacing (15) in (13) the transmission function of the non-circular gear wheel pair (Fig.
4d) can be written in the form:

52 (t ) = 52 ( ( (t ))) .

(19)

The parameter is defined mathematically positive

and it describes a constantly rotating angle of the input
non-circular gear wheel pair.
The synthesis method presented here is a generally valid
method for mechanism structures, which contain noncircular gear wheels.

B. Realisation of pilgrim-step motions with constant

transmission ratio during the pilgrim-step
As an example, a geared linkages mechanism with an
inverted slider-crank as basic mechanism (Fig. 5) is synthesised, which realizes a long pilgrim-step with constant
transmission ratio (pilgrim-step motion). The centroides
of the non-circular gear wheels are non-circular segments.
(s. Fig. 5). The output element 5 should be jointed in the
frame point 12. Because the coupler gear wheel realizes a
swinging movement, the start angle 1 and the end angle
2 in the domain with pilgrim-step motion are prescribed:

1 = 0.2 2 to 2 = 0.9 2 .

(20)

The pilgrim-step is realized thereby for nearly the entire

crank rotation.
y
34

depending on the crank length l2

With the condition (20) and the relationships (22), the
dimensions of the inverted slider-crank are:
l1 = 0.5 l 2 (cos(0.22 ) + cos(0.92 )) 0.559 l 2 ,
e = 0.5 l 2 (cos(0.22 ) cos(0.92 )) = 0.25 l 2 .

(23)

The inverted slider-crank specified with the dimensions

(23), has the characteristic that the first derivative of the
angle of rotation ( ) for the parameter values (20) is
zero. In the range I : R 1 2 the transmission
for the output element can be arbitrary chosen,
ratios 51
when continuously convex centroidal curves are obtained
( 0 ). For the pilgrim-step movement the relationship
= 52
+1 0
51

(24)

has to be satisfied, i.e. the transmission ratio

< 1 ,
52

(25)

as well as the condition for a continuously convex or concav centroidal curves

(1 ) = 52
( 2 ) = 0 .
52

(26)

With the boundary conditions (25) and (26), a spline

function for the angle function 52 ( ) can be calculated
(Fig. 6c).
6

+e

12=15=25
35
5

(22)

6
51
[rad] 5.2
51 4.4
[ - ] 3.6

()

l2
(cos(1 ) + cos( 2 )) ,
2
l
e = 2 (cos(1 ) cos( 2 )) ,
2

l1 =

(t ) = (0) 2 t ,

23

By the substitution of the boundary conditions (20) in

(21), two equations result. By their subtraction and addition results the frame length and the eccentricity of the
inverted slider-crank

()
14
x

51 ( t )
' 51 ( t )

For the reverse points ( ( ) = 0 ) of the slider the following geometrical relationship exists [9]:
0 = l 22 cos 2 ( ) 2l1l 2 cos( ) + l12 e 2 .
(21)

1.2

()

51

0.4

()51

Fig. 5. Kinematical schema of the geared linkages with

inverted slider-crank and non-circular gear wheel pair

2.8

0.4
2

51 ()

1.2
2
1.26

2.14

3.02

3.9

4.78

5.65

[rad]

4
)
18
Fig. 6a. 0Transmission
functions of(geared
linkages mechanism
with inverted slider-crank and non-circular gear wheel in the range I

12th IFToMM World Congress, Besanon (France), June18-21, 2007

The 0 order angular function is:

2
[rad]
1.6

1.2
[-]
0.8

()

0.4

( t)

with:

( t)

0.4
0.8

()

1.6
2
1.26

( ) =
2.14

3.02

04

3.9

4.78

5.65

[rad]

( t )

18

Fig. 6b. Angular functions of the slider in respect to the crank

in the range I (in the inverse motion)

52 0

[rad]
52
[-]

0.5

1.5

52 ()

' 52 ( t)

2.5
3

4
4.5
5
1.26

2.14

(29)

3.02

3.9

l1 cos( ( ))
.
l 2 cos ( ) l1 cos( ( ))

(30)

Because the angular function ( ) is non-biunique, can

not be given a unique spline function for the target function of the output element movement in the range
= 0...2 . It will obtain two different centroidal curves

range I and are analyzed for the second range I .

With the relationships (3) and (4) the centroidal curves of
the non-circular gear wheels are to be computed as noncircular segments. The synthesized centroidal curves together with the mechanism for position = 216 are
shown in Figure 7.

()

52

3.5

(28)

for the ranges I and I (complementary range to 2 ). It

is necessary to analyze the transmitting behavior of the
centroides, which, for example, are given for the first

52 ( t)

and the first order angular function is:

1.2
2

q( ) p ( ) 2 + q ( ) 2 r ( ) 2

p ( ) r ( )

p( ) = l1 sin ,
q( ) = l 2 l1 cos ,
r ( ) = e ,

( ) = 2 arctan

4.78

5.65

[rad]
04
( )
18
Fig.6c.
Target function and transmission
ratio of the
output wheel in the range I in the inverse motion
0

520
[rad] 0.44

35
12=15=25

0.88

14

1.32

()

1.76

52

23

52( t) 2.2

34 ?

2.64
3.08
3.52
4.4

3.96
4.4

0.0628

0.19

0.44

0.69

0.94

(0) [rad]
( )0 order transmission function of the non-circular
( )
Fig. 6d. The
gear wheel mechanism in the range I

The angular functions ( ) , ( ) (Fig. 6.b) are obtained from the implicite 0 order transmission equation of
the inverted slider-crank:
0 = l 2 sin( ) l1 sin( + ) e .
(27)

Fig 7. Geared linkages with inverted slider crank and

non-circular gear wheel pair; numerical example

The 0 order transmission function of the non-circular

gear wheel pair will be indicated in the following as function of an evenly progressing input angle. In addition, it is
established that the values pair 1 , 1 = (1 ) represents
the maximum and the values pair 2 , 2 = ( 2 ) represents the minimum of the function ( ) . The function

12th IFToMM World Congress, Besanon (France), June18-21, 2007

( ) illustrates all the values in the range

W : ( 2 ...1 ) , which, by the use of the inverse function, the definition range becomes. Thus it can be specified that the transmission function of the non-circular gear
wheel pair describes the function 52 ( ) , if the input
geared element will be mathematically positively moved
from the angle 1 constantly to the angle 2 . This procedure describes the parameterized t function

(t ) = ( 2 1 ) t + 1 ,

(31)

whereby for the parameter t applies

t R 0 t 1.

(32)

The inverse function = ( ) is to be computed in the

form (15), which is received from the equation (27). The
coefficients of the relationship (15) are:
p( ) = l1 sin ,
q( ) = l1 cos ,

(33)

r ( ) = l 2 sin e .

The transmission function 52 ( ) of the non-circular

segments computed with (31) and (15) with (33) is shown
in Figure 6d and is represented similarly to (19). For the
computation of the transmission characteristic of the entire gear wheels pair mechanism is to be considered further the initial position of the mechanism. This is reached,
if in each instantaneous angular function value ( ) an
appropriate parameter value t is assigned.
For the analysis of the transmission characteristic of the
geared linkages mechanism it is sufficient to use therefore, the range of the function ( ) directly as definition
range for the inverse function ( ) . The mathematical
form for the target function of the geared linkages mechanism. can be obtained from the relationships (19) and (15)
with (33)

51 ( ) = + 52 ( ( )) .

(34)

The analysis result is shown in Figure 6a.

IV Conclusions

A method has been presented here, which can be

adapted in very simple way to technological requirements
for five elements geared linkages mechanisms. The generalized method consists of three parts: change of the reference system (inverse motion), description of the mechanism as non-linearly steered non-circular gear wheel pair

and the reverse transformation into the initial coordinates

system.
The result may be introduced a new, generally valid
procedure for the computation of the 0 order transmission
function of centroides, which from non-linear defaults is
realized. This also permits the computation of past problems such as elliptical gear-transmissions, non-circular
gear wheel pair as connected mechanism or congruent
non-circular gear wheels (with symmetrical 0 order
transmission functions). The procedure permits the computation of the simple gear wheel pair and of the gear
wheel pair in complex transmission structures connected
parallel or serial.
With this procedure the explicit knowledge of the centroidal curves is not necessary by the computation of the
transmission function from the centroides, since only the
centroidal geometry by the 0 order and first order transmission function of the mechanism and the errors are
specified.
Two examples were presented in this paper. In the examples we considered the geared linkages mechanisms
with constant transmission ratio and with pilgrim-step
with constant transmission ratio during the pilgrim-step,
which have the higher derivatives zero.

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