1

6. UNIVERSAL J OINTS
A universal joint is a connection between two intersecting rotating
shafts which are coplanar and are inclined at an angle with respect
to each other.
The angle b/n the shafts may vary during operation
Used to transmit rotational motion









For a constant angular velocity of the driver, the velocity of the
follower fluctuates b/n a certain maximum and a certain minimum.
2
6.1. Velocity Ratio of Shafts
Consider two shafts A and B which are the driver and follower,
respectively.
The axes of the two shafts are inclined at an angle o from the plan
view as shown below.

3
If observed from the direction of A, when the shafts rotate,
A-A traces a circle while B-B traces an ellipse
The ellipse is a projection of the circle traced by b-b of the figure
above
If shaft A turns through an angle u from AA to A
1
A
1
, then the
projection of BB will also turn through angle u to B
1
B
1
.
During this time the angle turned by shaft B is | as observed from
the axis of shaft B.
The projection of B
1
and

B
2
on AA are C
1
and C
2
.
From the geometry of the projections

) 2 ( tan
) 1 ( tan
1 1
2
2 2
2
1 1
1
B C
OC
B C
OC
and
B C
OC
= =
=
|
u
4
Combining the above two equations we get



From the plan view it can be observed that



The relationship b/n u, the angular displacement of shaft A and |,
the angular displacement of shaft B is obtained to be


Differentiating equation (5) with respect to time, the output shaft
velocity can be related to the input shaft velocity.




) 3 (
tan
tan
1
1
2
1
OB
OC
OC
OC
= =
|
u
) 4 ( cos
1
1
o =
OB
OC
) 5 ( cos tan tan o | u =
) 6 ( cos sec sec
2 2
o
|
|
u
u
dt
d
dt
d
=
5
Where o is a constant





The velocity relationship b/n the two shafts is thus obtained to be


From trigonometric relations

Substituting for tan| from equation (5)

) 8 (
) 7 (
B
A
dt
d
and
dt
d
e
|
e
u
=
=
) 9 ( cos sec sec
2 2
o | e u e =
B A
| |
2 2
tan 1 sec + =
o
u o
o
u
|
2
2 2
2
2
2
cos
tan cos
cos
tan
1 sec
+
=
+ =
6
from equation (9) we obtain the equation that relates the input and
output velocities.



Upon simplification, the velocity relation is obtained to be



Hence, the ratio of the angular velocities is given by



The ratio e
B
/ e
A
has a maximum value when for which
u = 0 or u = 180
o
or any multiple of 180
o
. For this condition,

) 10 (
sec
1
cos
cos
tan cos
2 2
2 2
u
o e
o
u o
e
+
=
B A
) 11 (
cos
cos sin 1
2 2
B A
e
o
u o
e

=
) 12 (
cos sin 1
cos
2 2
u o
o
e
e

=
A
B
, 1 cos = u
) 13 (
cos
1
sin 1
cos
2
max
o o
o
e
e
=

=
|
|
.
|

\
|
A
B
7
The ratio e
B
/ e
A
has a minimum value when cosu = 0, for which u
= 90
o
or u = 270
o, .
or any multiple of 90
o
. For this condition,



6.2. POLAR ANGULAR VELOCITY DIAGRAM
Polar angular velocity diagram shows the velocity of the driver and
follower for a complete revolution of the joint.

) 14 ( cos
min
o
e
e
=
|
|
.
|

\
|
A
B
8
Since the angular velocity of the driver is assumed constant, it is
represented by a circle.
The angular velocity of the follower is shown as an ellipse, since its
magnitude varies b/n a maximum and a minimum.
The ellipse crosses the circle at four points, in which case, during a
cycle the angular velocities of the driver and driven shaft are equal.
For this condition



Equation (15) yields
) 15 ( 1
cos sin 1
cos
2 2
=
u o
o
) 16 (
cos 1
1
sin
cos 1
cos
2
2
o
o
o
u
+
=

=
9
Upon simplification we obtain


Solving for tanu we get


Thus, the driver and follower have the same speed when
) 17 ( tan 1 cos 1 sec
2 2
u o u + = + =
) 18 ( cos tan o u =
o u cos tan =
10
6.3. COEFFICIENT OF SPEED FLUCTUATION
The difference b/n the maximum and minimum speeds of the
follower expressed as a ratio of the driving shaft speed for constant
angle o is defined as the coefficient of speed fluctuation.



Substituting for (e
B
)
max
and (e
B
)
min
yields

( ) ( )
) 19 (
min max
A
B B
q
e
e e
=
( )
) 21 (
cos
sin
cos
cos 1
cos
cos
1
) 20 (
cos
cos
1
2
2
o
o
o
o
o
o
e
e o e
o
=

=
|
.
|

\
|
=

|
.
|

\
|
=
q
or
q
A
A A
11
From equation (21) the coefficient of speed fluctuation is obtained
to be


For small angle o, sin o = o, and tan o = o, hence, the coefficient of
speed fluctuation is given by


where o is in radians.

Having obtained the coefficient of speed fluctuation q, the total
fluctuation of speed is then given by



) 22 ( tan sin o o = q
) 23 (
2
o = q
) 24 (
2
A
speed of n fluctuatio total e o =
12
6.4. ANGULAR ACCELERATION OF DRIVEN SHAFT
Assuming e
A
to be constant, for a constant inclination o b/n the
driver and follower, the angular velocity of the follower is



The angular acceleration of the driven shaft is then obtained from



Which yields the angular acceleration of the driven shaft to be
) 25 (
cos sin 1
cos
2 2
A B
e
u o
o
e

=
) 26 (
cos sin 1
cos
2 2
|
.
|

\
|


=
A
B
dt
d
dt
d
e
u o
o e
) 27 (
) cos sin 1 (
2 sin sin cos
2 2 2
2
2
u o
u o o
e o


=
A B
13
For maximum angular acceleration, the acceleration term is
differentiated with respect to time t and set equal to zero to give the
position for which the acceleration is maximum or minimum. i.e.



Upon simplification



For small values of o,
) 28 ( 0
) cos sin 1 (
2 sin sin cos
2 2 2
2
=
|
|
.
|

\
|


=
u o
u o o o
dt
d
dt
d
B
( )
) 29 (
sin 2
2 cos 2 sin
2 cos
2
2 2
o
u o
u

=
) 30 (
sin 2
sin 2
2 cos
2
2
o
o
u

=
14
6.5. DOUBLE HOOKS JOINT
In an automobile, if only a single Hooks joint were used, either the
speed of the engine or that of the car would have to vary during
each revolution of the drive shaft.
However, the inertia at both ends would resist this occurrence.
High stresses would occur on the transmission shaft and slippage on the
tires.
This problem is solved by employing a double Hooks joint
which provides a uniform velocity b/n the input and output ends,
Limits the variation of speed to the intermediate shaft.
15
If the driver and follower are inclined equally relative to the
intermediate shaft,
The fluctuation of speed will be confined to the intermediate shaft.
The intermediate shaft can then be made short and light in order to
reduce the inertia in the transmission.
the relation b/n e
2
, speed for the driver, and e
4
, speed for the
follower, is obtained as follows.
For angle u which the driver turns through in a given time,


where is the angle turned by the intermediate shaft during the
same time.
Also


where | is the angle turned through by the follower or output shaft.
) 31 ( cos tan tan o u =
) 32 ( cos tan tan o | =
16
From these relations we have




i.e. the driving and driven shaft turn through the same angle in the
same time.


If the forks on the intermediate shaft are set at right angles, the
speed of the follower e
4
will fluctuate b/n;

) 34 (
) 33 ( tan tan
| u
| u
=
=
or
) 35 (
2 4
e e =
o
e
o e
2
2
2
2
cos
1
cos

and