Experiment Instructions

KI 150

Hookes Coupling
Apparatus

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

KI 150

Publication-No.:

914.000 00 B 150 12

07/2011

KI 150

Hookes Coupling Apparatus

Table of Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Unit description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Theoretical principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

3.1

Gimbal error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3.2

Angular velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3.3

Movement compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.1

Performance of experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4.2

Theoretical values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4.3

Values obtained by experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5.1

Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

5.2

Symbols and units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

KI 150

Hookes Coupling Apparatus

Introduction
The KI 150 demonstrates the irregularity exhibited
by an output shaft when it is connected to the drive
end by way of a universal joint.
Relatively simple experiments can be performed
to establish the difference in angle of rotation of the
shafts as a function of various deflection angles. It
is also possible to illustrate the advantage of using
two universal joints.

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

The KI 150 is suitable both for practical laboratory

work by trainees and for the performance of demonstrations by the instructor.

1 Introduction

KI 150

Hookes Coupling Apparatus

Unit description
The KI 150 basically consists of two universal joints
(9) connected to a split intermediate shaft (10).
Turning a handwheel (5, input) drives a shaft stub
(14), which transmits the rotary motion to universal
joints and intermediate shaft (Fig. 2.1).

10/97

The output end is represented by a dial (13), which

is attached to a further shaft stub (15). The arrangement is supported by rolling-contact bearings in
two stands (4, 8).

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

The stands are mounted on two plates (2) which

can be turned by slackening off grip screws (3).
The angles of rotation of the plates (deflection
angle) can be read off scales on the base plate (1).
The initial angle of rotation can be read off a scale
(6) on the drive-end shaft stub. A pointer (7) is
attached to the stand for this purpose. The difference in angle of rotation can be determined by
comparing the scale values for input and output.
The scales can be set to zero by slackening off the
knurled nuts (11, 12).
Loosening the knurled screw makes it possible to
turn the right shaft half and thus to move the forks
of the intermediate shaft out of one plane.

2 Unit description

KI 150

13

15

14

7 6

11

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

12

Hookes Coupling Apparatus

1
Fig. 2.1

10

Design of KI 150

2 Unit description

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

KI 150

Hookes Coupling Apparatus

Theoretical principles

3.1

Gimbal error

2,
2

1, 1

If two shafts inclined towards one another at a

deflection angle are connected by means of an
articulated coupling (universal joint), the angle of
rotation of the driven shaft becomes alternately
greater and smaller than that of the drive shaft with
each quarter turn (Fig. 3.1). The difference between the angles of rotation is known as the gimbal
error. The angle of rotation of the driven shaft is as
follows:
tan 2 =

Fig. 3.1

Articulated coupling with deflection angle

tan 1

(3.1)

cos

2: Angle of rotation of driven shaft in degrees

1: Angle of rotation of drive shaft in degrees
: Deflecton angle in degrees

3.2

Angular velocity
If the input shaft is driven uniformly, the angular
velocity of the output shaft will exhibit a sinusoidal
profile. It is calculated as follows:
2 =

cos
1 cos21 sin2

(3.2)

1: Angular velocity of drive shaft in s-1

2: Angular velocity of driven shaft in s -1
1: Angle of rotation of drive shaft in degrees
2: Angle of rotation of driven shaft in degrees
: Deflection angle between input and output
shaft in degrees

3 Theoretical principles

KI 150

3.3

Hookes Coupling Apparatus

Movement compensation
The usually undesirable sinusoidal output velocity
can be avoided by using two articulated couplings.
If two such couplings are arranged in succession
such that

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

Z-arrangement

the deflection angles of the joints in Z and

W-arrangement (Fig. 3.2) are of equal magnitude

the forks of the intermediate shaft are in one

plane (Fig. 3.3) and

all shaft parts are in one plane

W-arrangement

Fig. 3.2

Articulated couplings with intermediate shaft in Z and Warrangement

the gimbal errors are cancelled out. Full movement

compensation is achieved. Only the intermediate
shaft exhibits irregular motion.

Correct

Incorrect

Fig. 3.3

Arrangement of forks

3 Theoretical principles

KI 150

Hookes Coupling Apparatus

Experiments
The aim of the experiment described below is to
determine the gimbal error when using universal
joints. This involves the setting of various deflection angles.

4.1

Performance of experiment

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

The scales on the input and output ends are set to

zero. The deflection angle of the output shaft is
then set to = 30. The input shaft is turned
through the angles 1 listed in Tab. 4.1 and a note
made of the angle 2 indicated on the output end.
This process is repeated for a deflection angle of
= 40.
Use is made of the formula
= 2 1

(4.1)

: Difference angle (gimbal error) in degrees

to calculate the gimbal error.
4.2

Theoretical values
The values calculated for 2 using formula (3.1)
are listed in Tab. 4.1.
The values clearly illustrate the alternate lead and
lag of the output shaft with every quarter turn.

4 Experiments

KI 150

30
30
30
30
30
30
30
30
30
30
30
30
30
40
40
40
40
40
40
40
40
40
40
Tab. 4.1

1 set in
degrees

2
calculated in
degrees
0
0
15
17.2
30
33.7
45
49.1
60
63.4
75
76.9
90
90.0
105
103.1
120
116.6
135
130.9
150
146.3
165
162.8
180
180.0
0
0
15
19.3
30
37.0
45
52.5
60
66.1
75
78.4
90
90.0
105
101.6
120
113.9
135
127.5
Angle of rotation values: Theoretical values

Difference angle in degrees

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

set in
degrees

Hookes Coupling Apparatus

10
= 40

8
6
4

= 30

2
0
-2
-4
-6
-8

-10
0
Fig. 4.1

50

Sinusoidal profile of difference angle

4 Experiments

100

150

Angle of rotation 1 in degrees

200

KI 150

Values obtained by experiment

set in
degrees
30
30
30
30
30
30
30
30
30
30
30
30
30
40
40
40
40
40
40
40
40
40
Tab. 4.2

1 set in
degrees
0
15
30
45
60
75
90
105
120
135
150
165
180
0
15
30
45
60
75
90
105
120

Tab. 4.2 lists the values obtained by experiment.

2 read off
in degrees
0
17.0
33.5
49.0
63.0
76.5
90.0
103.0
116.0
130.5
146.0
163
180
0
19.0
37.0
52.0
66.0
78.0
90.0
101.5
114.0

The values from the experiment provide confirmation of the theoretical values. Deviations
can be attributed to reading inaccuracy.

Angle of rotation values: Values obtained by experiment

8
Difference angle in degrees

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

4.3

Hookes Coupling Apparatus

= 40

6
4

= 30

2
0
-2
-4
-6
-8

-10
0
Fig. 4.2

50

100

Angle of rotation 1 in degrees

150

200

Difference angle values obtained by experiment: Approximately sinusoidal profile

4 Experiments

KI 150

Hookes Coupling Apparatus

Appendix

5.1

Technical data
Dimensions:
Overall dimensions (w x l x h):
280 mm x 360 mm x 185 mm
Total weight:
approx. 4.5 kg
Symbols and units

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

10/97

5.2

5 Appendix

Deflection angle

degrees

Angle of rotation of drive shaft

degrees

Angle of rotation of driven shaft

degrees

Difference angle

degrees

Angular velocity of drive shaft

s-1

Angular velocity of driven shaft

s-1