COMPUTER AIDED KINEMATIC ANALYSIS OF PLANETARY GEAR TRAINS OF THE 3K TYPE A. Karaivanov1, R.

Popov2
1. Computer Sciences Faculty, Technical University Sofia, Bulgaria 2. Department of Applied Mechanics, University of Chemical Technology and Metallurgy, Sofia, Bulgaria

ABSTRACT The paper present a method for computer-aided calculation of the geometrical parameters of a planetary gear train type 3K (Wolfrom gear train). Following this method, a program is compiled which very much facilitates the work of the engineer in the choice of the most appropriate parameters for the train. KEYWORDS: 3K gear train, Kynematic analysis 1. INTRODUCTION Due to their undisputed qualities the planetary gear trains have a wide application in the field of machinery /5/, /7/. Coupled gear trains are used to obtain speed ratios greater than 10, with three-stage trains covering the higher part of the range required in common machinery /4/, /5/, /7/. The following paper reviews a planetary gear train of the 3K type (Figure 1) with one central wheel with external teeth (sun-gear) 1 and two central gears with internal teeth (ring-gears) 3 and 4. Its single-rim satellites 2 mesh simultaneously with the three central gears, the crown gears, the ring-gears having different numbers of teeth. This scheme is chosen as the most compact and thus the most perspective.

2 1

PA

PB

Figure 1: Type 3 planetary gear train consisting of: sun-gear 1; satellites 2 (most commonly 3 satellites); fixed ring-gear 3; movable ring-gear 4; carrier H. Unlike the most commonly used three-stage planetary gear train type 2K-H /4/, /7/, which has 15 gears (Figure 2), the type 3K planetary gear train in review has only 6 gears (Figure 1) when
Proceedings of the 3rd International Conference on Manufacturing Engineering (ICMEN), 1-3 October 2008, Chalkidiki, Greece Edited by Prof. K.-D. Bouzakis, Director of the Laboratory for Machine Tools and Manufacturing Engineering (), Aristoteles University of Thessaloniki and of the Fraunhofer Project Center Coatings in Manufacturing (PCCM), a joint initiative by Fraunhofer-Gesellschaft and Centre for Research and Technology Hellas, Published by: and PCCM

571

realized with three satellites. This means a difference of 2.5 times in the number of gears which leads to a significant economy of metal, labour (milling and shaping) and funds /3/. The geometrical calculation of the type 3K gear train meets a large number of geometrical impediments and requires much calculation as the satellites are involved simultaneously in three meshings (two of them internal), which calls for a careful choice of addendum modification coefficients /3/, /5/, /7/, /8/.

PA

II

PB

III

Figure 2: Three-stage planetary gear train of the most common type (2K-H).

Due to the large number of variants the calculations are labour-consuming and there is a chance that the most favourable combination of parameters could be missed. The existence of multiple ways of solving the problem forces some authors to assume restrictive conditions, which narrows the domain of solutions, but it is possible to miss an appropriate solution. For example, in /8/ a modification coefficient x 2 = +0,25 is assumed for the movable ringgear. The large number of calculations usually leads to the assumption of a solution which provides acceptable results, but does not explore the limits of its optimization possibilities /3/. The aim of the following paper is establishment of a method for computer-aided calculation of the geometrical parameters of a planetary gear train type 3K. It was found that when determining the modification coefficients x1 , x2 , x3 and x4 of the four gears it is most appropriate to consecutively assign values to x2 and then determine the other three coefficients. These coefficients must be in the allowed limits. For each combination of possible values of the modification coefficients x1 , x2 , x3 and x4 the rest of the tooth meshing parameters which influence the gear trains qualities are determined. 2. GEAR TRAIN OPTIMIZATION An algorithm for choosing the most appropriate kinematic parameters of the train is worked out following the deduced analytical relations. Input data: Number of satellites k Number of teeth of the sun-gear z1 Desired speed ratio i Gear module m Range of change of the modification coefficient of the satellites from x2min to x2max Step of change of the modification coefficient of the satellites x2 Coefficient of deviation of the distance between the axes from the reference distance K aw

572

3rd ICMEN 2008

Calculated parameters first tab: Number of teeth of the satellites z2 and the ring-gears z3 and z4 Operating distance between the axes (center distance) of the meshed gears aw Pressure angles w12 , w 23 and w 24 Modification coefficients x1 , x3 and x4 of the central gears for x2 = x2max Calculated parameters second tab: Geometrical parameters of the four gears for x2 = x2max - reference pitch diameters d ; - operating pitch diameters d w (for the satellite three different for each of the meshings); - tip diameters d a ; - root diameters d f ; - profile angles of the tip circles a ; - pressure angles at the point between the involute profile and the fillet surface of the teeth for gears 1 and 2 with external teeth L ; - form diameters for gears 1 and 2 d L . Calculated parameters third tab: Interference check: - the profile angles of the initial points of the active profile of the satellite in its meshing with the two ring-gears A 23 and A 24 have to be greater than L 2 4,637 . Determination of the contact ratios: - external meshing sun-gear 1 with satellites 2: 12 - internal meshing satellites 2 with ring-gear 3: 23 - internal meshing satellites 2 with ring-gear 4: 24 When varying the center distance a w and the satellite modification coefficient x 2 , one could seek the most favourable combination of the other meshing parameters. The program greatly facilitates the calculations and the choice of a variant is left to the engineers experience, which allows him to take into account the various constructional and technological factors /1/, /2/, /5/, /6/, /7/. 3. SOFTWARE PRODUCT A program is compiled for kinematic calculation of a type 3K planetary gear train of the type in review. Figure 3 shows the main screen of the program interface before entering the input parameters and Figure 4 shows it with input data and calculations of the main quantities. The other tabs feature groups of the rest of the calculated quantities diameters (Figure 5), specific angles of the tooth geometry with interference checks and profile contact ratios (Figure 6) and values of the modification coefficients of the central gears x1 , x3 and x4 as a function of the modification coefficient of the satellites x2 (Figure 7). The following course of work is recommended: 1. Input of data. 2. Calculation of aw and the main quantities.

Machines, Devices, Constructions

573

3. Examination of the table with the modification coefficients (Figure 7) and choice of values of the modification coefficient of the satellites x2 , which give acceptable results for the modification coefficients of the central gears x1 , x3 and x4 . 4. Consecutive change of x2max , its values being the acceptable values chosen in 3. 5. Check whether the rest of the tooth meshing parameters are in the allowed limits. 6. Change of the operating center distance aw and repetition of the procedure from stage 3 to stage 5. 7. Analysis of the results and choice of optimal parameters. 4. RESULTS ANALYSIS With the help of the program a specific constructional problem was solved for choice of the kinematic parameters of a gear train of a hoists traveling mechanism with a speed ratio i = 91. The results are better than the ones from solving the same problem without the program /3/. Especially with regard to the angles A 23 and A 24 which provides less profile sliding, thus less fatigue and lower power losses (higher efficiency). It should be noted that in the process of determination of the optimal kinematic parameters one could work with an approximation of the module m of the tooth meshing. In a subsequent determination of the actual module by means of load capacity calculations the geometrical parameters are changed (increased or decreased) proportionally, but they still remain optimal.

Figure 3: Main screen of the program interface before data input.

574

3rd ICMEN 2008

Figure 4: Main screen after data input and calculation of the main quantities.

Figure 5: Other parameters of the tooth geometry of the four gears.

Machines, Devices, Constructions

575

Figure 6: Interference check and profile contact ratios.

Figure 7: Values of the modification coefficients of the central gears x1 , x3 and x4 as a function of the modification coefficient of the satellites x2 .

576

3rd ICMEN 2008

5. CONCLUSION A method is established for optimal choice of the parameters of a type 3K planetary gear train, which method is appropriate for computer-aided design. Following this method, a program is compiled which very much facilitates the work of the engineer in the choice of the most appropriate parameters for the train. With the help of this program a specific gear train is calculated after its calculation by hand /3/. 6. REFERENCES 1. Arnaudov, K. and all. Machine elements, Tehnika, Sofia. (1980) (in Bulgarian) 2. Arnaudow K., Karaivanov D. Raum- und Massesparende Zahnradgetriebe. // Proceedings of the 3rd Conference about Construction, Shaping & Design. Novi Sad, 19.05.2004, pp: 73 September 78. 3. Arnaudow K., Karaivanov D. Das Wolfrom-getriebe - ein fall kompliziertester gekoppelten profilverschiebungen.// Zbornik radova IRMES06, 21 22 September 2006, Banjaluka Mrakovica, 2006, pp: 191128. 4. Karaivanov, D., On the comparative analysis of multy-stage reducers for hoists HCTech2000, 6 8 June 2000 Sofia, Mashinostroene special edition, 2000, pp: 3539. (in Bulgarian) 5. Kudriavtsev, V. N. Planetary gear trains, Mashinostroenie, Moscow. (1966) (in Russian) 6. Niemann G., Winter H. Maschinenelemente, Band II, Zahnradgetriebe, Springer Verlag, Berlin, 1995. 7. Planetary gear trains. Handbook. Edited by V. N. Kudriavtsev and Iu. N. Kirdiashev, Mashinostroenie, Leningrad. (1977) (in Russian) 8. Yastrebov, V. M., Planetary gear trains 3K with a common satellite, Vestnik mashinostroenia, 1960, 3, pp: 1720.

Machines, Devices, Constructions

577

578

3rd ICMEN 2008