Machine Design
Tutorials
Spring/Summer 2020
June 25th - Week 8
DGD 7
Problem 1
The figure below shows a planetary gear train with a hand brake
holding the ring fixed. The arm is the output.
Using the information in
the figure, answer the
following questions…
Problem 1
a) What is the circular pitch, p ?
b) Sketch each member of the train as a free body in equilibrium (neglect
gravitational loads) and find all forces and moments
c) What is the output torque?
d) What is the arm rpm? Does it rotate cw or ccw?
e) What is the pitch line velocity for each
of the gears?
f) What are the nominal radial loads
imposed on the bearings supporting
each of the gears?
g) What torque must the break provide
in order to hold the ring fixed?
Assumptions
• All gears mesh along their pitch
circles
• Friction losses in gears and
bearings are negligible
• All tooth loads are transferred at
the pitch point
• Centripetal forces will not be
considered in this analysis (i.e all
gears are considered massless)
Example of a planetary gear train
a) what is the circular pitch, p ?
From Equation 15.6 in J&M textbook, we can find the pitch:
𝑝𝑖𝑡𝑐ℎ 𝑝
= =𝜋
𝑚𝑜𝑑𝑢𝑙𝑒 𝑚
Module given in problem: m=2.0 mm/tooth…
𝑝 = 2.0𝜋 𝑚𝑚 𝐴𝑁𝑆
b) Sketch each member of the train as a free body in equilibrium (neglect
gravitational loads) and find all forces and moments
Diameter, 𝒅 = 𝑵𝒎 (Eq. 15.4 in J&M txtbk)
-> N=number of teeth in gear
-> m=module
Planet Ring
Planet Diameter: 40mm
𝑑𝑝𝑙𝑎𝑛𝑒𝑡 = 20 2 = 40𝑚𝑚
Sun
100
Ring Diameter:
60mm mm
𝑑𝑟𝑖𝑛𝑔 = 70 2 = 140𝑚𝑚
Sun Diameter: 140mm
(derived from Eq. on pg 663, Fig. 15.31 step 1)
𝑑𝑠𝑢𝑛 = 𝑅 − 2𝑃 = 60𝑚𝑚
Arm Diameter:
𝑑𝑎𝑟𝑚 = 𝑑𝑠𝑢𝑛 + 𝑑𝑝𝑙𝑎𝑛𝑒𝑡 = 60𝑚𝑚 + 40𝑚𝑚 = 100𝑚𝑚
b) Sketch each member of the train as a free body in equilibrium (neglect gravitational loads) and find all forces and moments, cont.
97
2
266
3
100
16 𝑁𝑚 60
140
2
266
3
97
To find tangential forces on sun: To find radial forces on sun, use Eq. 15.12
& pressure angle given in problem:
𝑀𝑡𝑜𝑝 𝑜𝑓 𝑠𝑢𝑛 = −16 𝑁𝑚 + 𝐹𝑡 0.06𝑚 = 0 𝐹𝑟 = 𝐹𝑡 𝑡𝑎𝑛 𝜑
𝑭𝒕 = 𝟐𝟔𝟔. 𝟔𝟔 𝐍 𝐹𝑟 = 266.66 𝑡𝑎𝑛 (20°)
𝑭𝒓 = 𝟗𝟕 𝑵
b) Sketch each member of the train as a free body in equilibrium (neglect gravitational loads) and find all forces and moments, cont.
• Next, translate the tangential and radial forces from sun to planet, then from the planet to the ring.
• Then find the opposing radial load at the center of the planet
𝐹𝑥 = 2 266.66𝑁 − 𝐹𝑟𝑎𝑑𝑖𝑎𝑙 𝑝𝑙𝑎𝑛𝑒𝑡 = 0 → 𝑭𝒓𝒂𝒅𝒊𝒂𝒍 𝒑𝒍𝒂𝒏𝒆𝒕 = 𝟓𝟑𝟑. 𝟑𝟑 𝑵
97
2 2
266 266
3 3
1
533
3
97 97
2
266
3
2
266
3
97 100
16 𝑁𝑚 60
140
2
266
3
97
97
2
266
3
b) Sketch each member of the train as a free body in equilibrium (neglect gravitational loads) and find all forces and moments, cont.
• Translate radial load on planet to arm
• Sum of forces in the x and sum of moments about the rotating axis of the arm give:
𝐹𝑥 = 533.33𝑁 − 𝐹𝑎𝑟𝑚𝑏𝑜𝑡𝑡𝑜𝑚 = 0 → 𝑭𝒂𝒓𝒎𝒃𝒐𝒕𝒕𝒐𝒎 = 𝟓𝟑𝟑. 𝟑𝟑 𝑵
𝑀𝑟𝑜𝑡𝑎𝑡𝑖𝑛𝑔 𝑎𝑥𝑖𝑠 𝑜𝑓 𝑎𝑟𝑚 = −𝑀𝑎𝑟𝑚 − 533.33𝑁 0.05𝑚 − 533.33 𝑁 0.05𝑚 = 0 → 𝑴𝒂𝒓𝒎 = 𝟓𝟑. 𝟑𝟑 𝑵𝒎
97
• Sum of moments about 266
2 266
2
3 3
axis of ring:
1 1
533 533
3 3
𝑀𝑎𝑥𝑖𝑠 𝑜𝑓 𝑟𝑖𝑛𝑔 = 0 97 97
2
266
3
−𝑀𝑟𝑖𝑛𝑔 + 266.66𝑁 0.07𝑚 2
37
1
266 3
−266.66 𝑁 0.07𝑚 = 0 97
3
100
1
16 𝑁𝑚 60 53
𝑴𝒓𝒊𝒏𝒈 = 𝟑𝟕. 𝟑𝟑 𝑵𝒎 3
140
2
266
3
97
97
1 2
533 266
3 3
c) What is the output torque?
Tout = 𝑀𝐴𝑟𝑚 = 53.33 𝑁𝑚 𝐴𝑁𝑆
d) What is the arm rpm?
𝜔𝑖 𝑇𝑜
Adapting Eq: = (from pg 664 in J&M textbook )
𝜔𝑜 𝑇𝑖
Input: 𝑇𝑠𝑢𝑛 = 16 𝑁𝑚; ω𝑠𝑢𝑛 = 800 𝑟𝑝𝑚; Output: Tarm = 53.33 Nm; 𝜔𝑎𝑟𝑚 =?
𝑇𝑠𝑢𝑛 16
𝜔𝐴𝑟𝑚 = 𝜔𝑠𝑢𝑛 = 800𝑟𝑝𝑚
𝑇𝑎𝑟𝑚 53.33
𝜔𝐴𝑟𝑚 = 240 𝑟𝑝𝑚 𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒 𝐴𝑁𝑆
e) What is the pitch line velocity for each of the gears?
• Using Eq. 15.13 in J&M textbook
• Not divided by 12 because we aren’t converting from inches to ft
• With respect to the arm, the sun rotates 560 rpm -> (800-240rpm=560rpm)
560𝑟𝑝𝑚
𝑉 = 𝜋𝑑𝑛 = 𝜋 0.06𝑚 = 1.76 𝑚/𝑠 𝐴𝑁𝑆
60𝑟𝑝𝑚
f) What are the nominal radial loads imposed on the bearings supporting each gear?
• The bearings supporting each planet carry a total radial load of 533.33 N
• Bearing supporting the other members carry zero nominal load 𝐴𝑁𝑆
g) What torque must the break provide in order to hold the ring fixed?
𝑇𝑏𝑟𝑎𝑘𝑒 = 𝑇𝑟𝑖𝑛𝑔
𝑇𝑏𝑟𝑎𝑘𝑒 = 37.33 𝑁𝑚 𝐴𝑁𝑆
Problem 2
A planetary gear train with double planets, two suns and no ring gear is given.
Numbers of teeth on the planets and one of the suns are specified. All gears
have the same pitch. One sun is the input member, the other sun is fixed, and
the arm is the output member. Determine the input-output speed ratio.
P1 (30 teeth)
P2 (24 teeth)
Arm
Output
Input
S1 (28 teeth)
S2
𝑛𝑜𝑢𝑡𝑝𝑢𝑡 𝑛𝑎𝑟𝑚
P2 …Looking for i.e
𝑛𝑖𝑛𝑝𝑢𝑡 𝑛𝑖𝑛𝑝𝑢𝑡
P1
To determine the input-output speed ratio, we can use the following equation for a
regular gear train (not planetary):
𝜔𝑜𝑢𝑡 𝑝𝑟𝑜𝑑𝑢𝑐𝑡 𝑜𝑓 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑑𝑟𝑖𝑣𝑒𝑟 𝑔𝑒𝑎𝑟𝑠
𝑡𝑟𝑎𝑖𝑛 𝑣𝑎𝑙𝑢𝑒 = 𝑒 = =±
𝜔𝑖𝑛 𝑝𝑟𝑜𝑑𝑢𝑐𝑡 𝑜𝑓 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑑𝑟𝑖𝑣𝑒𝑛 𝑔𝑒𝑎𝑟𝑠
Keeping the arm fixed, and letting sun 2 (S2) be free (our train is no longer planetary):
P1 = Driven
P2=Driver Arm
Output
𝜔𝑜𝑢𝑡 𝑁𝑆1 𝑁𝑃2
𝑒= =±
𝜔𝑖𝑛 𝑁𝑃1 𝑁𝑆2
Input
S1=Driver
S2= Driven
P2= Driver
P1=Driven
Need to find # of teeth on sun 2:
We know all pitch diameters are the same, so:
𝑑𝑆1 + 𝑑𝑃1 = 𝑑𝑆2 + 𝑑𝑃2
P1 (30 teeth)
P2 (24 teeth) Arm
Applying relationship from Eq 15.26-27: Output
𝑁𝑆1 + 𝑁𝑃1 = 𝑁𝑆2 + 𝑁𝑃2
Input
S1 (28 teeth)
28 + 30 = 𝑁𝑆2 + 24 S2
P2
P1
𝑵𝑺𝟐 = 𝟑𝟒 𝒕𝒆𝒆𝒕𝒉
Plugging in the number of teeth:
𝑁𝑆1 𝑁𝑃2 28 24
𝑒= = = 𝟎. 𝟔𝟓𝟖𝟖
𝑁𝑃1 𝑁𝑆2 (30)(34)
For planetary gear trains, the train value, e, is (Adapted from Eq. 15.29 in J&M txtbk):
𝑛𝑜𝑢𝑡𝑝𝑢𝑡 − 𝑛𝑎𝑟𝑚 −𝑛𝑎𝑟𝑚
𝑒= Since for our problem, 𝑒=
𝑛𝑖𝑛𝑝𝑢𝑡 − 𝑛𝑎𝑟𝑚 S2 is fixed… 𝑛𝑖𝑛𝑝𝑢𝑡 − 𝑛𝑎𝑟𝑚
Equating the expressions for train value:
−𝑛𝑎𝑟𝑚
𝑒 = 0.6588 =
𝑛𝑖𝑛𝑝𝑢𝑡 − 𝑛𝑎𝑟𝑚
𝑛𝑎𝑟𝑚 0.6588
=− = −1.931 𝐴𝑛𝑠.
𝑛𝑖𝑛𝑝𝑢𝑡 0.3412
Problem 3
12
It is desired to make a helical gear with a face width equal to and
𝑃
also equal to 2.0𝑝𝑎 . What helix angle is required to do this? How
does this compare with the commonly used range of helix angles of
15° to 30°?
Face width, b, given in question: Figure adapted from Fig 16.4 in
J&M textbook
12
𝑏 = 2.0𝑝𝑎 = ψ
𝑃
𝑝𝑎
Using geometry, or Eq.16.5 in J&M txtbk: 𝑏
𝑝
𝑎𝑥𝑖𝑎𝑙 𝑝𝑖𝑡𝑐ℎ, 𝑝𝑎 = 𝑝
𝑡𝑎𝑛 ψ
We also know: 𝒑𝑷 = 𝝅 (Eq. 15.5 in J&M txtbk)
𝜋 12 2.0 𝜋
𝑝𝑎 = → =
𝑃 𝑡𝑎𝑛 ψ 𝑃 𝑃 𝑡𝑎𝑛 ψ
ψ = 27.64° 𝐴𝑛𝑠.
Problem 4
Determine the required gear center distance for two meshing helical
gears that have parallel shafts. The gears were cut with a bob with a
normal circular pitch of 0.5236 in. The helix angle is 30°, and the
speed ratio is 2:1. The pinion has 35 teeth.
Schematic and Given Data:
helix angle 𝜓 = 30°
speed ratio = 2:1
𝑝𝑛 = 0.5236 in.
𝑁𝑝 = 35 teeth
Assumptions:
1. The helical gears are aligned and mounted to mesh along the pitch circles.
2. The gear teeth have standard involute profiles.
Number of teeth in gear 𝑁𝑔 :
2
𝑁𝑔 = 𝑁𝑝 ∗ 𝑠𝑝𝑒𝑒𝑑 𝑟𝑎𝑡𝑖𝑜 𝑁𝑔 = 35 ∗ = 70 𝑡𝑒𝑒𝑡ℎ
1
Normal module 𝑚𝑛 :
in
𝑚𝑛 = 𝑝𝑛 /𝜋 𝑚𝑛 = 0.5236 𝜋 = 0.167 𝑖𝑛
Center distance c:
𝑑𝑔 + 𝑑𝑝
𝑐= eq. (15.1a) 𝑑 = 𝑁𝑚 eq. (15.4)
2
𝑚𝑛 𝑁𝑝 + 𝑁𝑔
𝑐 =
2𝑐𝑜𝑠𝜓
0.167(35 + 70)
𝑐= = 10.12 𝑖𝑛 𝐴𝑛𝑠.
2cos 30°
Problem 5
A double reduction helical gear train has specified numbers of teeth,
helix angles, normal plane module and normal plane pressure angle
of 0.35 rad. The motor shaft rotates at 550 rpm and transmits 20
kW.
(a) What is the speed ratio between the motor (input) and output
shafts?
(b) Determine all force components that the 20-tooth pinion applies
to the 50-tooth gear. Make a sketch showing these forces.
(c) Determine all force components that the 50-tooth gear applies
to the 25-tooth pinion. Make a sketch showing these forces.
Schematic and Given Data:
Assumptions:
1. The gear teeth have standard involute profiles.
2. The gears are aligned and mounted to mesh along their pitch circles.
3. All the tooth loads are transmitted at the pitch point in the midplane of the gears.
4. Shaft bending deflections are negligible.
(a) What is the speed ratio between the motor (input) and output shafts?
Speed ratio:
𝜔𝑖𝑛𝑝𝑢𝑡 𝑁𝑔𝑒𝑎𝑟 1 ∗ 𝑁𝑔𝑒𝑎𝑟 2
= Eq. (15.27)
𝜔𝑜𝑢𝑡𝑝𝑢𝑡 𝑁𝑝𝑖𝑛𝑖𝑜𝑛 1 ∗ 𝑁𝑝𝑖𝑛𝑖𝑜𝑛 2
𝑁𝑔𝑒𝑎𝑟 1 = 50
𝑁𝑝𝑖𝑛𝑖𝑜𝑛 1 = 20
𝑁𝑔𝑒𝑎𝑟 2 = 50
𝑁𝑝𝑖𝑛𝑖𝑜𝑛 2 = 25
𝜔𝑖𝑛𝑝𝑢𝑡 50 50
= ∗ = 5.0
𝜔𝑜𝑢𝑡𝑝𝑢𝑡 20 25 𝐴𝑛𝑠.
(b) Determine all force components that the 20-tooth pinion applies to the
50-tooth gear. Make a sketch showing these forces.
9549𝑊ሶ
Motor Torque (T): 𝑇= Eq. (1.2)
𝑛
9549(20𝑘𝑊) → 𝑇 = 347.24 𝑁𝑚
𝑇=
550 𝑟𝑝𝑚
Motor Pinion Diameter (d):
From Eq. (15.4): 𝑑 = 𝑁𝑚 𝑁𝑚𝑛
→ 𝑑=
𝑐𝑜𝑠𝜓
From Eq. (16.1) and Eq. (15.6): 𝑚𝑛 = 𝑚𝑐𝑜𝑠𝜓
20(4 𝑚𝑚)
= 𝑑 = 91.16 𝑚𝑚
cos(0.50 𝑟𝑎𝑑)
(b) Determine all force components that the 20-tooth pinion applies to the
50-tooth gear. Make a sketch showing these forces.
𝑇
Tangential force: 𝐹𝑡 =
𝑑/2
347.24 𝑁𝑚
𝐹𝑡 = → 𝐹𝑡 = 7618 𝑁
91.16 𝑚𝑚/2 𝐴𝑛𝑠.
Radial force: 𝑡𝑎𝑛𝜑𝑛
𝐹𝑟 = 𝐹𝑡 eq. (e) from pg. 682
𝑐𝑜𝑠𝜓
tan(0.35 𝑟𝑎𝑑)
𝐹𝑟 = 7618 → 𝐹𝑟 = 3169 𝑁
cos(0.50 𝑟𝑎𝑑) 𝐴𝑛𝑠.
Axial force: 𝐹𝑎 = 𝐹𝑡 𝑡𝑎𝑛𝜓 eq. (16.9)
𝐹𝑎 = 7618 ∗ tan(0.50 𝑟𝑎𝑑) → 𝐹𝑎 = 4162 𝑁
𝐴𝑛𝑠.
(c) Determine all force components that the 50-tooth pinion applies to the
25-tooth gear. Make a sketch showing these forces.
(ratio from motor input to gear A)
50
Pinion Torque (𝑇𝑝 ): 𝑇𝑝 = 𝑇
20
50
𝑇𝑝 = 347.24 𝑁𝑚 → 𝑇𝑝 = 868.10 𝑁𝑚
20
Pinion Diameter (𝑑𝑝 ):
𝑁𝑚𝑛 25(4 𝑚𝑚)
Eq. → 𝑑𝑝 = =
𝑐𝑜𝑠𝜓 cos(0.35 𝑟𝑎𝑑)
𝑑𝑝 = 106.45 𝑚𝑚
(c) Determine all force components that the 50-tooth pinion applies to the
25-tooth gear. Make a sketch showing these forces.
𝑇𝑝
Tangential force: 𝐹𝑡 =
𝑑𝑝 /2
868.10 𝑁𝑚
𝐹𝑡 = → 𝐹𝑡 = 16 310 𝑁
106.45 𝑚𝑚/2 𝐴𝑛𝑠.
Radial force: 𝑡𝑎𝑛𝜑𝑛
𝐹𝑟 = 𝐹𝑡 eq. (e) from pg. 682
𝑐𝑜𝑠𝜓
tan(0.35 𝑟𝑎𝑑)
𝐹𝑟 = 16 310 → 𝐹𝑟 = 6338 𝑁
cos(0.35 𝑟𝑎𝑑) 𝐴𝑛𝑠.
Axial force: 𝐹𝑎 = 𝐹𝑡 𝑡𝑎𝑛𝜓 eq. (16.9)
𝐹𝑎 = 16 310 ∗ tan(0.35 𝑟𝑎𝑑) → 𝐹𝑎 = 5954 𝑁
𝐴𝑛𝑠.
Problem 6
A pair of straight tooth bevel gears mounted on perpendicular shafts
transmit 35 hp at 1000 rpm of the 36-tooth pinion. Geometry of the
gears as specified in figure. Make a sketch of the pinion showing:
a) an assumed direction of rotation
b) the direction and magnitude of torque applied to the pinion by its shaft
c) the direction and magnitude of the three components of force applied to
the pinion tooth by a gear tooth.
Make a corresponding drawing of the gear and the loads applied to it.
Schematic and Given Data:
Assumptions:
1. The gears are mounted to mesh along their pitch cones.
2. Friction losses can be neglected.
3. All the tooth loads are transmitted at the pitch point midway along the tooth face.
4. The tooth profiles are standard involutes.
Pinion and Gear Diameters (𝑑𝑝 , 𝑑𝑔 ): Pinion and Gear Pitch Cone Angles(𝛾𝑝 , 𝛾𝑔 ):
𝑁𝑝 𝑑𝑔
𝑑𝑝 = eq. (15.3) = tan 𝛾𝑔 = cot 𝛾𝑝 eq. (16.16)
𝑃 𝑑𝑝
36
𝑑𝑝 = = 6 𝑖𝑛.
6 𝑑𝑔 15
𝛾𝑔 = tan−1 = tan−1 = 68.2°
𝑑𝑝 6
𝑑𝑔 𝜔𝑝
= eq. (16.16)
𝑑𝑝 𝜔𝑔 𝛾𝑝 = 90° − 68.2° = 21.8°
𝜔𝑝 1000 𝑟𝑝𝑚
𝑑𝑔 = 𝑑𝑝 =6 = 15 in.
𝜔𝑔 400 𝑟𝑝𝑚
Average Pinion Diameter(𝑑𝑝,𝑎𝑣 ): Tangential Force(𝐹𝑡 ):
𝑑𝑝,𝑎𝑣 = 𝑑𝑝 − 𝑏 𝑠𝑖𝑛 𝛾𝑝 eq. (16.18) 33,000𝑊ሶ
𝐹𝑡 = eq. (16.20a)
𝑉𝑎𝑣
𝑑𝑝,𝑎𝑣 = 6 𝑖𝑛 − (2 𝑖𝑛) 𝑠𝑖𝑛 (21.8°)
33,000(35 ℎ𝑝)
𝑑𝑝,𝑎𝑣 = 5.26 in 𝐹𝑡 = = 839 𝑙𝑏
1377 𝑓𝑝𝑚
Axial Force on Pinion(𝐹𝑎 ):
Average Velocity(𝑉𝑎𝑣 ):
𝐹𝑎 = 𝐹𝑡 𝑡𝑎𝑛𝜙 𝑠𝑖𝑛𝛾𝑝 eq. (16.22)
𝑉𝑎𝑣 = 𝜋𝑑𝑎𝑣 𝑛 eq. (16.19a)
𝐹𝑎 = 839 𝑡𝑎𝑛20° sin 21.8° = 113 lb
𝜋 5.26 𝑖𝑛 1000 𝑟𝑝𝑚
𝑉𝑎𝑣 =
12 𝑖𝑛/𝑓𝑡 Radial Force on Pinion(𝐹𝑟 ):
𝑉𝑎𝑣 = 1377 fpm 𝐹𝑟 = 𝐹𝑡 𝑡𝑎𝑛𝜙 𝑐𝑜𝑠𝛾𝑝 eq. (16.23)
𝐹𝑟 = 839 𝑡𝑎𝑛20° cos 21.8° = 283 lb
Torque on Pinion(𝑇𝑝 ):
33,000𝑊ሶ
𝑇𝑝 = Final Drawing:
2𝜋 𝑛𝑝
33,000(35 ℎ𝑝)
𝑇𝑝 = = 184 lb ft
2𝜋 (1000 𝑟𝑝𝑚)
Torque on Gear(𝑇𝑔 ):
33,000𝑊ሶ
𝑇𝑔 =
2𝜋 𝑛𝑔
33,000(35 ℎ𝑝)
𝑇𝑔 = = 460 lb ft
2𝜋 (400 𝑟𝑝𝑚)
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week!
