Modern College of Engineering

Shivajinagar, Pune 5

Experiment No. 4
Epicyclic Gear Train

Title – Speed and torque analysis of Epicyclic Gear Train to determine holding
torque.

Introduction – Sometimes two or more gears are made from one shaft to
another. Such a combination is called gear train or train of toothed wheels. The
nature of the train used depends upon the velocity ratio required and the
relative position of the axes of shafts. A gear train may consist of spur, bevel or
spiral gears.
Types of Gear Train – Following are the different types of gear trains
depending upon the arrangement of wheels:
1. Simple Gear Train
2. Compound Gear Train
3. Reverted Gear Train
4. Epicyclic Gear Train
In case of epicyclic gear train, the axes of the shafts on which the gears are
mounted may move relative to a fixed axis.

Epicyclic Gear train-

A simple epicyclic gear train is shown in figure where a gear A and the arm C
have a common axis at O1 about which they can rotate. The gear B meshes
with gear A and has its axis on the arm at O2, about which the gear B can
rotate. If the arm is fixed, the gear train is simple and gear A can drive gear B or
vice-versa. But if gear A is fixed and then the gear B is forced to rotate upon
and around gear A. Such a motion is called epicyclic and the gear trains
arranged in such a manner that one or more their members move upon and
around another member are known as epicyclic gear trains. They may be
simple and compound.
The epicyclic gear trains are useful for transmitting high velocity ratios with
gears of moderate size in a comparatively lesser space. These trains are used in
the back gears of moderate size in a comparatively lesser space. These trains
are used in the back gears of lathe, differential gears of the automobiles,
hoists, pulley blocks, wrist watches etc.

Epicyclic Gear Train

Velocity ratio of Epicyclic Gear Train-

The following two methods may be used for finding out the velocity ratio of an
epicyclic gear train-:

Tabular Method – Consider the epicyclic gear train.

Step No. Conditions of Arm C Gear A Gear B
motion
1 Arm fixed, 0 +1 -TA / TB
Gear A
rotates +1
rev. c/w
2 Arm fixed, 0 +x (-TA / TB )*x
Gear A
rotates +x
rev. c/w
3 Add y rev. to +y +y +y
all elements
4 Total Motion +y x+y Y+(-TA / TB )*x

Simple Epicyclic Gear Train

TA = Number of teeth on gear A.
TB = Number of teeth on gear B.

Let us suppose that the arm is fixed. Therefore the axes of both gears are also
fixed relative to each other. When gear A makes +1 revolution clockwise then
gear B will make (TA/TB) revolutions anticlockwise.

Secondly if the gear A makes +x revolutions then gear B will make -x(TA/TB)
revolutions. This statement is entered in the second row of the table. In other
words, multiply the each motion by x.
Thirdly, each element of an epicyclic gear train is given +y revolutions and
entered in the third row. Finally, the motion of each element of the gear train
is added up and entered in the fourth row.
A little consideration will show that when two conditions about the motion of
the motion of rotation of any two elements are known, then the unknown
speed of the third element may be obtained by substituting the given data in
the third column of fourth row.

Algebraic Method-
In this method, the motion of each element of the epicyclic gear train relative
to the arm is set down in the form of equations. The number of equations
depends upon the number of elements in the gear train. Two conditions are
usually supplied in any epicyclic train. These are sufficient to solve all the
equations and hence to determine the motion of any element in the epicyclic
gear train.
Let the arm C be fixed as shown in figure. Therefore speed of the gear A
relative to arm C = NA – NC.
Speed of the gear B relative to the arm C = NB – NC
Since gears A and B are meshing directly, therefore they will revolve in the
opposite directions.

Compound Epicyclic Gear Train

(NB-NC)/(NA – NC ) = -(TA/TB)
Since the arm C is fixed, therefore its speed, NC = 0.
(NB/NA) = - (TA/TB)
If the gear A is fixed then NA = 0.
(NB – NC)/ (0 – NC) = -(TA/TB)
Or NB/NC = 1 + TA/TB

Compound Epicyclic Gear Train – Sun and Planet Gear – A compound epicyclic gear train
as shown in figure, consists of two co-axial shafts S1 and S2, an annulus gear A
which is fixed, the compound/planet gear B-C, the sun gear D and the arm H.
The annulus gear has internal teeth and the compound gear is carried by the
arm and revolves freely on a pin of the arm H. The sun gear is co-axial with the
annulus gear and the arm but independent of them.

The annulus gear A meshes with the gear C. When the annulus gear provides
the drive. In both cases, the arm acts as a follower.

Let TA, TB, TC and TD be the teeth and NA, NB, NC and ND be the speeds for the
gears A, B, C and D respectively. When the arm is fixed and the sun gears D is
turned clockwise, then the compound gears B-C and the annulus gear A will
rotate in the anticlockwise direction.

Torques in Epicyclic Gear Train – When the rotating parts of an epicyclic gear
train have no angular acceleration, the gear train is kept in equilibrium by the
three externally applied torques i.e.
1. Input torque on the driving member (T1).
2. Output torque on the resisting or load torque on the driven member
(T2).
3. Holding or braking or fixing torque on the fixed member (T3).
The net torque applied to the gear train must be zero. In other words –

T 1 + T2 + T 3 = 0
F1r1 + F1r1 + F3r3 = 0
Step No. Conditions Arm A Gear D Compound Gear A
of Motion gear B-C
1 Arm fixed. 0 +1 -(TD/TC) -(TD/TC)*(TB/TA)
Gear
rotates +1
rev
2 Arm fixed 0 +x -(TD/TC)*x -(TD/TC)*(TB/TA)*x
gear
rotates
3 Add +y rev +y +y +y +y
to all
elements
4 Total +y x+y y-(TD/TC)*x -(TD/TC)*(TB/TA)*x
motion
Where F1, F2 and F3 are the corresponding externally applied forces at radii r1,
r2 and r3.

Further if w1 , w2 and w3 are the angular speeds of the driving, driven and
fixed members respectively, and the friction be neglected then the net kinetic
energy dissipated by the gear train must be zero.
T1w1 + T1w2 + T3w3 = 0
But for a fixed members, w3 = 0
T1w1 + T2w2 = 0
Hence braking torque T3 may be obtained as follows –
T2 = - T1.(w1/w2)
And T3 = - (T1 + T2)
= T1[w1/w2 – 1]
= T1[N1/N2 – 1]

When input shaft and output shaft rotate in same direction, then the input and
output torques will be opposite direction and vice – versa.

Set-Up Description
Internal epicyclic gear train consisting of sun gear
mounted on input shaft, two planet gears mesh with the internal teeth of
annular gear. The 2 planet gears are connected to each other by means of an
arm.

Sr. No Input Holding Output Speed

Torque Torque Torque
V I T1 T2 T1 T2 N1 N2
 1
2

Observations –

1. Radius of output drum = 0.115m

2. Radius of holding drum = 0.08m
3. Efficiency of motor = 80%
4. No. of teeth on sun gear TA = 10
5. No. of teeth on planet gear TC = TD = 27
6. No. of teeth on annulus gear TB = 64

Procedure –
1. Check the experimental setup.
2. Give supply to the motor from input panel.
3. Adjust the speed of input shaft to some fixed value.
4. Apply holding torque to just hold the drum.
5. Apply load on output drum.

Calculations -
1. Motor Power
P = V.I x efficiency
=________
2𝜋𝑁𝑇
=
60
 Ti = _________ Nm

2. Output Torque = To = (T1 –T2)0 x 9.81 x r 0

3. Holding Torque = To = (T1 –T2)0 x 9.81 x r 0

4. Speed Ratio = Input speed /Output Speed

Condition of Arm Gear A Gear C/D Gear B

motion
Arm is Fixed. 0 +1 -(TA/Tc) -(TA/TB)
A rotates +1
rev.
Arm is fixed 0 +x -(TA/Tc).x -(TA/TB).x
A rotates +x
rev.
Add +y to all +y +y +y +y
elements
Total Motion +y x+y y-(TA/Tc) y-(TA/TB)
From experimental method -
N1/N2 = _____
By analytical method -
According to the fixed condition, the annular gear is fixed i.e.
y – (TA/TB).x = 0 -----1
the input speed of gear A i.e.
X+Y = N1 --------2

Solving 1 and 2 simultaneously we get –

X = _____
Y = _____

Speed ratio of input torque = (x+y)/y

= ______
Conclusion – The speed ratio is nearly equal to ______ which is verified. The
algebraic sum of input torque and holding torque is equal to output torque.