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Rizza 4/19/2007
Equations for Spur Gears
by
The equations are believed to be correct. But, if you find any errors please let me know by
writing to rizza@msoe.edu.
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R. Rizza 4/19/2007
Nomenclature
Symbol* Meaning
a Addendum length
b Dedendum length
c Clearance
C Gear and Pinion center distance
Cf (or ZR) Surface condition factor
CH Hardness factor
Cma Mesh alignment factor
Cmc Load correction factor
CP (or ZE) Elastic coefficient
Cpf Pinion proportion factor
Cpm Pinion proportion modifier
d Pitch diameter
E Young’s modulus
hu Working depth
ht=a+b Whole depth
F Face width
Fn Transmitted load
Fr Radial load
Ft Tangential load
I Surface Geometry factor
φ Pressure angle
m Module
J Bending Strength Geometry Factor
KB Rim thickness factor
KM (CM) Load distribution factor
Ko Overload factor
KR Reliability factor
KS Size factor
KT Temperature factor
KV Dynamic Factor
MG Gear ratio (never less than 1)
mB Backup ratio
Mp Contact ratio
Mv Angular velocity ratio
n Number of revolutions per minute
N Number of teeth
ν Poisson ratio
ω, ωarm Angular velocity, Angular velocity of the arm
Pb Base Pitch
Pc Circular Pitch
Pd Diametral Pitch
Qv Quality index
r Pitch circle radii
t Tooth thickness
ρ Radii of curvature
TF Oil film temperature
Sb Allowable bending stress
Sc Allowable surface contact stress
Sfb Bending fatigue strength
Sfc Surface fatigue contact strength
T Torque
tR Rim thickness
Vt Velocity along the pitch circle
YN Stress cycle factor for bending
z Length of action
ZN Stress cycle for pitting resistance
* Subscripts p and g are used to indicate the pinion and g for some of these parameters.
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KINEMATICS
Fundamental Relationships
ωout r N T 1
mV = = in = in m A = out =
ωin rout N out Tin mV
πd N
Pc = Pd = Pb = Pc cos φ
N d
d
m=
N
( rp + a p ) − ( rp cos φ ) ( rg + a g ) − ( rg cos φ )
2 2 2 2
z= + − Csin φ
Pd z
MP =
π cos φ
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R. Rizza 4/19/2007
Standard Gears
Tables 1, 2, 3 (Norton tables 11-1, 11-2 and 11-3, or Shigley 13-1 to 13-3)
Table 1 (Norton Table 11-1, Shigley Table 13-1): Standard Gear Parameters
Parameter Coarse Pitch (Pd < 20) Fine Pitch (Pd > 20)
φ 20 or 25 degrees 20 degrees
a 1.000/ Pd 1.000/ Pd
b 1.250/ Pd 1.250/ Pd
hu 2.000/ Pd 2.000/ Pd
ht 2.250/ Pd 2.200/ Pd +0.002 in
t 1.571/ Pd 1.571/ Pd
Fillet radius 0.3000/ Pd Not standardized
Minimum basic clearance 0.250/ Pd 0.200/ Pd +0.002 in
Minimum width of top 0.250/ Pd Not standardized
land
c 0.350/ Pd 0.350/ Pd +0.002 in
Table 2 (Norton Table 11-2, Shigley Table 13-2): Standard Diametral Pitches
Coarse Pitch (Pd < 20) Fine Pitch (Pd > 20)
1.25 20
1.5 24
1.75 32
2 48
2.5 64
3 72
4 80
5 96
6 120
8
10
12
14
16
18
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Table 4 Minimum Number of Teeth Required for Avoiding Interference in a 20° Full-Depth
Pinion and Full-Depth Gear (Norton Table 11-5).
Table 5 Minimum Number of Teeth Required for Avoiding Interference in a Full-Depth Pinion
and a Full-Depth Rack (Norton Table 11-4).
Pressure Angle (φ) Minimum Number of Teeth.
14.5 32
20 18
25 12
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R. Rizza 4/19/2007
Gear Trains
2. Planetary Gears
Stresses
Transmitted Loads
Ft = Fn cos φ
Fr = Fn sin φ = Ft tan φ
⎧ πdn πNn
⎪ = (in FPM)
12 12Pd
⎪⎪
Vt = ⎨ πdn ( in in/s n in rps ) (See also Norton Table 11-7)
⎪ πmNn ( in m/s, n in rps )
⎪
⎪⎩
Bending Stress
FP
σb = t d K o K m K v KS K B English Units
FJ
Ft
σb = K o K m K v K SK B SI units
FmJ
For values of J see Norton Tables 11-8 to 11-15 or Shigley Figure 14-6 below.
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Dynamic Factor
⎧ 50 + Vt
⎪K v = (Vt in ft/min)
⎪ 50
For Q v ≤ 5 (Vt ≤ 2,500 ft/min (13m/s)) ⎨
⎪ 50 + 200Vt
⎪⎩ K v = (Vt in m/s)
50
⎧ ⎛ A + Vt ⎞
B
⎪K = ⎜ ⎟ (Vt in ft/min)
⎪ v ⎜ A ⎟
⎪ ⎝ ⎠
⎪ B
⎪⎪ ⎛ A + 200Vt ⎞
For 6 ≤ Q v ≤ 11 Kv = ⎜ ⎟ (Vt in m/s)
⎨ ⎜ A ⎟
⎪ ⎝ ⎠
⎪ A=50+56 (1-B )
⎪
⎪ 2
⎪B = (12 − Q v ) 3
⎪⎩ 4
2
Vt max = ⎡⎣ A + ( Q v − 3) ⎤⎦ ( in ft/min )
2
⎡ A + ( Q v − 3) ⎤⎦
Vt max = ⎣ ( in m/s )
200
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R. Rizza 4/19/2007
Load distribution factor, KM
In general keep 8/Pd < F < 16/Pd. Km may be calculated by using Shigley equation 14-30:
(
K m = 1 + Cmc Cpf Cpm + Cma Ce )
⎧1 for uncrowned teeth
Cmc = ⎨
⎩ 0.8 for crowned teeth
⎧ F
⎪ − 0.025 F ≤ 1 in
10d
⎪
⎪ F
Cpf = ⎨ − 0.0375 + 0.0125F 1 <F ≤ 17 in
⎪ 10d
⎪ F 2
⎪10d − 0.1109 + 0.0207F − 0.000228F 17 <F ≤ 40 in
⎩
⎧ F
⎪ − 0.025 F ≤ 25 mm
10d
⎪
⎪ F
Cpf = ⎨ − 0.0375 + 0.000492F 25 <F ≤ 432 mm
⎪ 10d
⎪ F −7 2
⎪10d − 0.1109 + 0.000815F − (3.53 x 10 )F 432 mm <F ≤ 1020 mm
⎩
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Table 6: Suggested size Factors
Diametral pitch, Pd Metric module, m Size factor, Ks
≥5 ≤5 1.00
4 6 1.05
3 8 1.15
2 12 1.25
1.25 20 4.00
⎧ 2.242
⎪1.6 ln m m B ≤ 1.2
t ⎪ B
mB = R , KB = ⎨ See also Shigley Figure 14-16
ht ⎪ 1.0 m B > 1.2
⎪⎩1.0 solid gear
Overload factor Ko
Surface Stress
⎧ K m Cf
⎪ CP Ft K o K v K s US units
⎪ dF I
σc = ⎨
⎪ Z F K K K K H ZR SI units
⎪ E t o v s dF ZI
⎩
For the value of d use the pitch diameter of the smaller of the two gears in contact.
⎧ cos φ sin φ M G
⎪ external gears
⎪ 2 MG + 1
I=⎨
⎪ cos φ sin φ M G internal gears
⎪⎩ 2 MG − 1
1
Cp =
⎡⎛ 1 − ν 2 ⎞ ⎛ 1 − ν 2 ⎞ ⎤
⎢ p g ⎥
π ⎜ ⎟+⎜ ⎟
⎢⎜ E p ⎟ ⎜ E g ⎟ ⎥
⎣⎝ ⎠ ⎝ ⎠⎦
See also Norton Table 11-18 (Shigley Table 14-8) for ν=0.3.
Fatigue Strength
YN
Sfb = St
KT KR
For values of St, see Tables 8 and 9 (Shigley tables 14-3 and 14-4).
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Table 8 (Shigley Table 14-3) St at 10 cycles and 0.99 Reliability for Steel Gears
Material Heat Treatment Minimum Allowable Bending Stress Number St
Designation Surface Psi
Hardness Grade 1 Grade 2 Grade 3
Steel Through- Fig 14-2 Fig 14-2 Fig 14-2 -
hardened
Flame or AGMA Table 8 45,000 55,000 -
induction
hardened with
type A pattern
Flame or AGMA Table 8 22,000 22,000 -
induction
hardened with
type B pattern
Carburized and AGAM Table 9 55,000 65,000 or 70,000 75,000
hardened (bainite and
cracks limited to
grade 3 levels)
Nitrided 83.5 HR15N Fig 14-3 Fig 14-3 -
(through
hardened steels)
Nitralloy 135M Nitrided 87.5 HR15N Fig 14-4 Fig 14-3 Fig 14-4
Nitralloy N,
and 2.5%
chrome (no
aluminum)
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Table 9 (Shigley Table 14-4) Applied Bending Strength St for Iron and Bronze Gears at 107
Cycles and 0.99 Reliability
Material Material Heat Treatment Typical Allowable
Designation Minimum Bending Stress
Surface Hardness Number, St (psi)
ASTM A48 gray Class 20 As cast - 5000
Class 30 As cast 174 HB 8500
Class 40 As cast 201 HB 13,000
ASTM A536 Grade 60-40-18 Annealed 140 HB 22,000-33,000
ductile (modular) Grade 80-55-06 Quenched and 179 HB 22,000-33,000
Iron Tempered
Grade 100-70-03 Quenched and 229 HB 27,000-40,000
Tempered
Grade 120-90-02 Quenched and 269 HB 31,000-44,000
Tempered
Bronze Sand cast Min. Tensile 5700
strength 40,000
psi
ASTM B-148 Heat treated Min. Tensile 23,600
Alloy 954 strength 90,000
psi
⎧1 TF ≤ 250 o F
⎪
K T = ⎨ 460 + T From Norton not Shigley
⎪
F TF > 250 o F
⎩ 620
Reliability factor, KR
Z N CH
Sfc = Sc
KT K R
Hardness factor, CH
a. Through hardness
CH = 1 + A ( M G − 1)
⎧ HBp
⎪0 < 1.2
⎪ HBg
⎪ HBp HBp
⎪
A = ⎨ 0.00898 − 0.00829 1.2 ≤ ≤ 1.7
⎪ HBg HBg
⎪ HBp
⎪0.00698 > 1.7
⎪⎩ HBg
b. Surface hardened Pinion (> 48 HRC)
(
CH = 1 + B 450 − HBg )
⎧0.00075e −0.0112R q (english)
⎪
B=⎨
⎪⎩ 0.00075e−0.052R q (SI)
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Table 9 (Shigley Table 14-6) Repeatedly Applied Contact Strength Sc at 107 and 0.99
Reliability for Steel Gears
Material Heat Minimum Allowable Contact Stres Number Sc, Psi
Designation Treatment Surface Grade 1 Grade 2 Grade 3
Hardness
Steel Through Fig 14-5 Fig 14-5 Fig 14-5 -
hardened
Flame or 50 HRC 170,000 190,000 -
Induction 54 HRC 175,000 195,000 -
hardened
Carburized AGMA Table 180,000 225,000 275,000
and 9
hardened
Nitrided 83.5 HR1 5N 150,000 163,000 175,000
(through 84.5 HR1 5N 155,000 168,000 180,000
hardened
steels)
2.5% Chrome (no Nitrided 87.5 HR1 5N 155,000 172,000 189,000
aluminum)
Nitralloy 135M Nitrided 90 HR1 5N 170,000 183,000 195,000
Nitralloy N Nitrided 90 HR1 5N 172,000 188,000 205,000
2.5% Chrome (no Nitrided 90 HR1 5N 176,000 196,000 216,000
aluminum)
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R. Rizza 4/19/2007
Table 10 (Shigley Table 14-7) Repeatedly Applied Contact Strength Sc at 107 and 0.99
Reliability for Iron and Bronze Gears
Material Material Heat Treatment Typical Allowable
Designation Minimum Bending Stress
Surface Hardness Number, St (psi)
ASTM A48 gray Class 20 As cast - 50,000-60,000
Class 30 As cast 174 HB 65,000-75,000
Class 40 As cast 201 HB 75,000-85,000
ASTM A536 Grade 60-40-18 Annealed 140 HB 77,000-92,000
ductile (modular) Grade 80-55-06 Quenched and 179 HB 77,000-92,000
Iron Tempered
Grade 100-70-03 Quenched and 229 HB 92,000-112,000
Tempered
Grade 120-90-02 Quenched and 269 HB 103,000-126,000
Tempered
Bronze Sand cast Min. Tensile 30,000
strength 40,000
psi
ASTM B-148 Heat treated Min. Tensile 65,000
Alloy 954 strength 90,000
psi
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