THE 7TH INTERNATIONAL CONFERENCE RESEARCH AND DEVELOPMENT OF MECHANICAL ELEMENTS

AND SYSTEMS

STRESS AND STRAIN STATE OF SINGLE – STAGE CYCLOIDAL SPEED REDUCER

Mirko BLAGOJEVIĆ
Nenad MARJANOVIĆ
Zorica ĐORĐEVIĆ
Blaža STOJANOVIĆ

Abstract: This paper deals with analysis of stress-strain state for some elements of single-stage cycloidal
speed-reducer when machining tolerances exist. Due to existence of machining tolerances, teeth of
cycloid disc are not all at simultaneous contact with appropriate rollers of the central stationary gear
and do not carry load. In order to efficiently do analysis, one single-stage cycloidal speed-reducer has
been designed.
Analysis of cycloid disc stress-strain state is realised using FEMAP software package. Cycloid disc is
considered to be elastic deformable body. The cases when one, two or three pairs of teeth are in contact
simultaneously have been analysed. Problem has been considered as being planar.
Analysis of the stress and strain that occur in the contact of the stationary central gear and the pins on
which rollers are positioned and which conjugate with cycloid disk teeth is realised. Analysis has been
done using CATIA software package, with appropriate 3-dimensional numerical models made for this
purpose. Numerical analysis of stress and strain state for eccentric was realised, too.
Based on analysis of obtained results, conclusion can be made that from aspect of stress distribution, the
most unfavourable case is the theoretical case when one pair of teeth is in contact, what was expected.
Even in a case of the most unfavourable single meshing, maximum stress and strain values are within
the limits that provide reliable work of cycloid disc during the foreseen working life, what is extremely
good recommendation for even more extensive use of cycloidal speed reducer.

Key words: cycloidal speed reducer, cycloid disc, stress state

Experimental analysis of cycloidal speed reducer is
1. INTRODUCTION presented in paper [11].
This paper deals with analysis of stress and strain state of
Cycloidal speed reducers belong the group of planetary cycloidal speed reducer elements when machining
gears. Their inventor is German engineer Lorenz Braren tolerances exist.
(1931). Because of very wide area of application,
production of cycloidal speed reducer has growing
character. Their main characteristics are: big transmission
ratio, low losses, compact design, reliable work,… Model
of the cycloidal speed reducer is shown in Figure 1.

The most important element of the cycloidal speed

reducer is cycloid disc which teeth profile is equidistant
of the shortened epitrochoid. In theoretical case, when
machining tolerances are not considered, half of cycloid
disc teeth participate at the load transmission process.
The basic information about cycloidal gearing are
presented by Kudrijavcev [1] and by Lehmann [2]. Litvin
and Feng [3] developed parametric equations for
equidistant of trochoid. Calculation of forces which acting
on cycloidal speed reducer elements, when machining
tolerancens don`t exist, is defined in papers [4, 5, 6].
Dynamic loads are dominant at cycloidal speed reducer.
Their dynamic behaviour is presented in papers [7, 8].
Chmurawa and Lixing [9, 10] described the distribution
of loads at cycloid disc with modified tooth profile. Fig.1: Model of cycloidal speed reducer

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 ε − angle between the force FE and eccentricity direction,
2. LOADS ON CYCLOIDAL SPEED ri - radius of output rollers pitch circle,
REDUCER ELEMENTS z - number of teeth of cycloid disk (gearing ratio of the
cycloidal speed reducer),
Cycloid disc is the most important element of the β j − angular position of the output roller – j ,
cycloidal speed reducer due to its complex geometry and
complex stress and strain state. In the first step it is α i − angle which force FNi makes with vertical,
necessary to define forces which act upon it. Cycloid disc li - lever arm of force FNi ,
with contact elements (housing rollers and output rolers)
is shown in Figure 2. p - number of the housing rollers that carry the load,
q - number of the output rollers that carry the load.
Values αi and li are calculated according to Figure 2,
based on the following expressions:

r
sin β + sin γ i
r2
α i = arctg (6)
r
cos β − cos γ i
r2
li = r1 sin(α i − β) (7)

r2
r1 Angle γ i (angular position of the housing rollers) is
calculated based on the following expression:
360 ( 2i − 1)
γi = (8)
2 ( z + 1)
r - radius of housing rollers pitch circle,
r1 - base circle radius of the cycloid disc,
r2 - base circle radius of the housing rollers.
Fig.2: Cycloid disc in contact with housing rollers and
output rollers Forces FNi and FKj are proportional to their respective
distances from the centre of rotation:
Forces on cycloid disc are:
FNi
FE − bearing reaction, = const. (9)
li
FNi − force between housing roller i and cycloid disc,
FKj
FKj − force between output roller j and cycloid disc, = const. (10)
sin(β j + β)
T1 − input torque.
The following equations can be expressed, based on Only for ideal (theoretical) case all cycloid disk teeth are
Figure 2: in contact with appropriate rollers and half of them carry
load. In reality, cycloidal speed reducer has machining
T1 = FE e cos ( β + ε ) (1) tolerances due to which number of teeth in contact is
lower than in ideal case, that is, the load per one tooth is
ri q
T1 =  FKj sin ( β j + β ) (2) increased.
z j =1 This paper deals with three the most critical cases (single-
p q , double- and triple meshing). For observed single-stage
 FNi cos α i −  FKj cos β − FE sin ε = 0 (3)
cycloidal speed reducer ( P = 5,5kW , n = 1500 min −1 ,
i =1 j =1
p q z = 11 , e = 4 mm , r1 = 44 mm , r2 = 48 mm ,
FE cos ε −  FNi sin α i +  FKj sin β = 0 (4)
i =1 j =1 r = 72 mm ) values of forces FNi are calculated, based
p q on expressions (1) – (10) and results are given in Table 1.
 FNi li −  FKj ri sin(β j + β) = 0 (5)
i =1 j =1

where:

e − eccentricity,
β− swivel angle of the input shaft,

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Table 1: Values of forces between housing rollers and -Poisson coefficient: μ = 0, 3 .
cycloid disc Stress and strain state analysis of cycloid disc is realized
Single Double Triple by FEMAP software. Stress and strain state for some
Force different cases are presented in Figures 4, 5, 6 and 7.
meshing meshing meshing

FN1 , N 4630 2210 1970

FN2 , N - 2310 2060

FN3 , N - - 1000

3. ANALYSIS OF STRESS-STRAIN STATE

CYCLOID SPEED REDUCER ELEMENTS
Analysis of stress and strain state of cycloidal speed
reducer elements (cycloid disk, stationary central gear and
eccentric) is realised using FEM. For this purpose, the
whole range of different numerical models has been
made. All these elements are considered to be deformable
elastic bodies. Numerical model of cycloid disc is
presented on Figure 3.
Fig.4: Von-Misses stress distribution of cycloid disc for
single meshing

Fig.3: Numerical model of cycloid disc for double

meshing Fig.5: Von-Misses stress distribution of cycloid disc for
double meshing
Three the most critical cases (single-, double- and triple
meshing) are analyzed. It is considered that at one instant
two output rollers are in contact with cycloid disk, for all
numerical models. Supports have been set up at these
points. Bearing reaction is decomposed into nine
components and supports have been set up also at points
of these components. External loads are forces FNi .
Problem is observed as being planar. Quadrilateral two-
dimensional isoparametric finite elements have been used.
Cycloid disk model consists of 9227 finite elements and
9753 nodes. Steel 30CrMoV9 was selected as a cycloid
disk material, with the following characteristics:
-Yield stress: ReH = 700MPa ,
-Tensile strength: Rm = 1100 MPa ,
-Modulus of elasticity: E = 2,1⋅105 MPa , Fig.6: Strain state of cycloid disc for double meshing

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 Fig.7: Strain state of cycloid disc for triple meshing

Maximum values of Von-Misses stress and strain are

depending on single-, double- or triple meshing. This
values are presented in Figure 8 and 9.

125
Fig.10: 3D model of stationary central gear
120

115 Numerical analysis of stationary central gear was done in

smax, MPa

software CATIA. 3D curvilinear tetrahedral finite

110 elements were used. Numerical model of this element is
105 presented in Figure 11.

100

95
1 2 3
Number of teeth in contact

Fig.8: Comparative analysis of Von-Misses stress values

for cycloid disc

0.0005
0.00045
0.0004
0.00035
dmax, mm

0.0003
0.00025
0.0002
0.00015
0.0001
0.00005
Fig.11: Numerical model of stationary central gear
0
1 2 3 In Figures 12 and 13 are presented areas with maximum
Number of teeth in contact values of contact stress and strain.

Fig.9: Comparative analysis of maximum strain values

for cycloid disc

Values of stress and strain are the largest in case of single

meshing. In that case: σ max = 121,5 MPa and
δ max = 0, 000441mm . For triple meshing there are:
σ max = 104,9 MPa and δ max = 0, 00036 mm .

Model of stationary central gear is presented in Figure 10.

Fig.12: Areas with maximum values of contact stress at

stationary central gear

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 Area of maximum displacement at eccentric is presented
in Figure 16.

Fig.13: Areas with maximum values of strains at Fig.16: Area of maximum strains at eccentric
stationary central gear
In Table 2 the maximum values of stress and strain at
3D model (CATIA) of eccentric with needle bearings is analyzed elements of cycloidal speed reducer for the most
presented in Figure 14. critical cases are presented.

Table 2: Maximum values of Von-Misses stress and strain

at analyzed elements of cycloidal speed reducer
Element of Max Von- Max
cycloidal speed Misses stress, strain,
reducer MPa mm
Cycloid disc
121,5 0,000441
(single meshing)
Cycloid disc
106,2 0,000364
(double meshing)
Cycloid disc
104,9 0,00036
(triple meshing)
Stationary central
86 0,00026
gear
Eccentric 95 0,000302
Fig.14: 3D model of eccentric

Numerical model of eccentric with external loads and

supports is presented on Figure 15. CONCLUSION
As with all machines and devices, there exist machining
tolerances at cycloidal speed reducer. As a consequence
to it, all housing rollers are not all simultaneously in
contact with cycloid disc and do not all carry load. Three
the most critical cases for cycloid disc have been analyzed
in the paper, from aspects of stress and strain values.
Problem is observed as being planar using software
FEMAP.
There are numerical analysis for stationary central gear
and for eccentric, too. Analysis for this elements was
done in software CATIA. 3D finite elements were used.
Based on realized stress-strain analysis using FEM, the
following conclusions can be made:
- The most unfavorable case for cycloid disc, from aspect
of stress and strain values, is the case of the single
meshing and the most favorable case is the triple
meshing;

Fig.15: Numerical model of eccentric

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-Even in the case of the most unfavorable single meshing, [11] DAVOLI, P., GORLA, C., CHIOZZI, F. (2007)
maximum stress and strain values are within the limits Theoretical and experimental analysis of a
that provide reliable work of cycloid disks during the cycloidal speed reducer, 10th ASME
foreseen working life; International power transmission and gearing
-Values of contact stress and strains for stationary central conference, Las Vegas, USA
gear and for eccentric are very close to values of Von-
Misses stress and strains of cycloid disc. It means that all
vital elements are very uniformly loaded and this is very
important advantage of the single stage cycloidal speed
reducer. CORRESPONDANCE

Mirko BLAGOJEVIĆ, Assist. Prof

ACKNOWLEDGMENT University of Kragujevac
Faculty of Mechanical Enginering
The results of this paper are realized through the National Sestre Janjić 6
project TR – 35037 financially supported by the Ministry 34000 Kragujevac, Serbia
of Science of the Republic of Serbia (coordinator of [email protected]
project Prof. dr R. Slavkovic).
Nenad MARJANOVIĆ, Full Prof
University of Kragujevac
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