Mechanism Analysis and Simulation

GEARS

Ing. Mauricio Mojica Irigoyen M.C.

Introduction to Spur Gears

Crossed belt effect
Both
pulleys
rotate
in
opposite directions. The
velocity ratio is inversely
proportional
to
the
diameters,
and
is
unaffected by the distance
between the centers.
Ing. Mauricio Mojica Irigoyen M.C.

Creating the involute

https://www.youtube.com/watch?v=l4PlT3QIfS0

Ing. Mauricio Mojica Irigoyen M.C.

Contact on involutes
Using point Q, involutes can be created
for both circles. If involute 1 is used to
move involute 2, the angular velocity
ratio remains constant due to the fact
that the line of action, which is normal to
the involutes on point Q, cuts the center
line in a fixed point (P).
If the distance between centers is
increased, another portion of the
involutes would make contact, however,
the angular velocity ratio will not be
changed.
Ing. Mauricio Mojica Irigoyen M.C.

Base
circle

Involute
pressure
angle

Base circle and pressure

angle
The circles used to generate the involutes
are known as base circles (crculo
base), and are the most important circles
in involute gears.
The angle formed between a line
perpendicular to the line of action (base
radius) which crosses the base circles
center, and a line from Q to the center of
the base circle, is known as the involute
pressure angle (ngulo de presin de
la involuta).
The intersection between the action and
center lines is point P (pitch point).
Ing. Mauricio Mojica Irigoyen M.C.

Base
circle

Involute
pressure
angle

Base circle and pressure

angle
Concentric circles are generated, using
point P as their shared tangent point. They
are called pitch circles (crculos de
paso).
The radius of a pitch circle is the pitch
radius (O1P, O2P).
Because of this, the angular velocity ratio
is inversely proportional to the pitch radius
ratio.

Ing. Mauricio Mojica Irigoyen M.C.

Base
circle

Involute
pressur
e angle
Pitch
circle

Involumetry
The
figure
shows
an
involute
generated on a base circle of radius
Rb. It cointains two points, A and B,
with corresponding radii (radiuses) RA
y RB and involute pressure angles A
and B.Rb RA cos A

Rb RB cos B
RA
cos B
cos A
RB
Ing. Mauricio Mojica Irigoyen M.C.

Base
circle

Tooth Thickness
arcoDG BG

tan B
OG
OG
DOB DOG B tan B B
DOG

DOA tan A A
inv tan
DOE DOB

tB
t
inv B B
2 RB
2 RB

tA
tA
DOE DOA
inv A
2 RA
2 RA
tA

inv A inv B
2 RA

t B 2 RB

Ing. Mauricio Mojica Irigoyen M.C.

Bas
e
circl
e

Spur Gear Details

pb = base pitch
p = circular pitch
a = addendum
b = dedendum
Rb = base radius
R = pitch radius
F = face width

Ing. Mauricio Mojica Irigoyen M.C.

Spur Gear Parameter Relations

2 R
p

N
P
N 2 RP
Rb R cos

P=diametralpitch
p=circularpitch
N=numberofteeth
R=pitchradius

R0 R a

Rb=baseradius

k
a
P
c R1 R2

R0=addendumradius

n1 R2 N 2
rv

n2 R1 N1
Ing. Mauricio Mojica Irigoyen M.C.

a=addendum
c=centerdistance
rv=velocityratio
n=angularvelocityinrpm

Ing. Mauricio Mojica Irigoyen M.C.

Involute Action Characteristics

The line of action is tangent to
both base circles, at points E1
and E2.

E1
E2

Ing. Mauricio Mojica Irigoyen M.C.

Involute Action Characteristics

The line of action is tangent to
both base circles, at points E1
and E2
Contact starts where the line of
action intersects the addendum
circle of the driven gear, and
ends where the line of action
intersects the addendum circle of
the driver.

E1

E2

Ing. Mauricio Mojica Irigoyen M.C.

Involute Action Characteristics

The line of action is tangent to
both base circles, at points E1
and E2
Contact starts where the line of
action intersects the addendum
circle of the driven gear, and
ends where the line of action
intersects the addendum circle of
the driver.

E1
B
E2

Point A is the beginning of

contact, while point B is the end.

Ing. Mauricio Mojica Irigoyen M.C.

Involute Action Characteristics

The line of action is tangent to
both base circles, at points E1
and E2
Contact starts where the line of
action intersects the addendum
circle of the driven gear, and
ends where the line of action
intersects the addendum circle of
the driver.

E1
P
E2

Point A is the beginning of

contact, while point B is the end.
The path of the point of contact
is therefore along the straight
line APB.
Ing. Mauricio Mojica Irigoyen M.C.

Involute Action Characteristics

The line of action is tangent to
both base circles, at points E1
and E2

E1

Contact starts where the line of

action intersects the addendum
circle of the driven gear, and
ends where the line of action
intersects the addendum circle of
the driver.
Point A is the beginning of
contact, while point B is the end.

A
P
B
E2

The path of the point of contact

is therefore along the straight
line APB.
Ing. Mauricio Mojica Irigoyen M.C.

Involute Action Characteristics

Point C is where the tooth profile
(gear 1) cuts the pitch circle at
the start of contact.
Point C is where the profile cuts
the pitch circle at the end of
contact.
Points D and D are similar points
on gear 2.
Arcs CC and DD are called arcs
of action, and must be equal for
pure Rolling action to take place.

Ing. Mauricio Mojica Irigoyen M.C.

Involute Action Characteristics

The angles of action are broken
into two parts.
The angle of approach is , while
the angle of recess is .
The angle of approach does not
in general equal the angle of
recess.

1 1
C

For continuous driving to take

place, the arc of action must be
equal to or greater than the
circular pitch.
This way, a new pair of teeth will
come into action before the
preceding pair goes out of action.
Ing. Mauricio Mojica Irigoyen M.C.

2 2

Involute Action Characteristics

The pressure angle is called .

P
B
E2

Ing. Mauricio Mojica Irigoyen M.C.

E1

The Contact Ratio

Ing. Mauricio Mojica Irigoyen M.C.

Approach and Recess Angles

Ing. Mauricio Mojica Irigoyen M.C.

Approach and Recess Angles

Angle of approach
Angle of recess
Angle of approach
Angle of recess

Ing. Mauricio Mojica Irigoyen M.C.

Example:

The pitch radii of two spur gears are 1.5 and 3.75
and the outside (addendum) radii are 1.625 and 3.875 respectively.
The pressure angle is 20 and the diametral pitch is 8. Determine the
contact ratio and the angles of approach and recess for both gears.

Ing. Mauricio Mojica Irigoyen M.C.

Example:

The pitch radii of two spur gears are 1.5 and 3.75
and the outside (addendum) radii are 1.625 and 3.875 respectively.
The pressure angle is 20 and the diametral pitch is 8. Determine the
contact ratio and the angles of approach and recess for both gears.

Ing. Mauricio Mojica Irigoyen M.C.

Example:

The pitch radii of two spur gears are 1.5 and 3.75
and the outside (addendum) radii are 1.625 and 3.875 respectively.
The pressure angle is 20 and the diametral pitch is 8. Determine the
contact ratio and the angles of approach and recess for both gears.

Ing. Mauricio Mojica Irigoyen M.C.

Example:

The pitch radii of two spur gears are 1.5 and 3.75
and the outside (addendum) radii are 1.625 and 3.875 respectively.
The pressure angle is 20 and the diametral pitch is 8. Determine the
contact ratio and the angles of approach and recess for both gears.

Angle of app 13.37

Angle of rec
Angle of app
Angle of rec

Ing. Mauricio Mojica Irigoyen M.C.

Interference in Involute Gears

It was mentioned previously that an involute
starts at the base circle and is generated
outward. It is therefore impossible to have an
involute inside the base circle. The line of action
is tangent to the two base circles of a pair of
gears in mesh, and these two points represent
the extreme limits of the length of action. These
two points are known as interference points
(E1 and E2). If the teeth are of such proportion
that the beginning of contact occurs before the
interference point is met, then the involute
portion of the driven gear will mate with a noninvolute portion of the driving gear, and involute
interference is said to occur.

Ing. Mauricio Mojica Irigoyen M.C.

Interference in Involute Gears

It was mentioned previously that an involute
starts at the base circle and is generated
outward. It is therefore impossible to have an
involute inside the base circle. The line of action
is tangent to the two base circles of a pair of
gears in mesh, and these two points represent
the extreme limits of the length of action. These
two points are known as interference points
(E1 and E2). If the teeth are of such proportion
that the beginning of contact occurs before the
interference point is met, then the involute
portion of the driven gear will mate with a noninvolute portion of the driving gear, and involute
interference is said to occur.

Ing. Mauricio Mojica Irigoyen M.C.

Methods of Gear Fabrication

There are several ways of generating spur gears,
the two most common are the hobbing
(encimera) method and the Fellows method of
shaping.

Ing. Mauricio Mojica Irigoyen M.C.

Diametral pitch (P)

The ratio of number of teeth (N) to the pitch

diameter (D) was given the name diametral
pitch (P).

The following are commonly used diametral

pitches:
1, , ,,2, , , , 3, , 4, 5, 6, 7, 8, 9, 10, 12, 14, 16,
18, 20, 22, 24, 26, 28, 30, 48, 64, 72, 80, 96,
120.
Ing. Mauricio Mojica Irigoyen M.C.

Tooth Proportions
Involute Spur Gears

Addendum (a)
Dedendum (b)
Clearance (cl)
Working depth
(2a)
Whole depth
(a+b)
Fillet radius of
basic rack (rf)

20 or
25
1/P
1.25/P
0.25/P
2/P

14
1/P
1.157/P
0.157/P
2/P

2.25/P

2.157/P

0.30/P

0.209/P

Ing. Mauricio Mojica Irigoyen M.C.

Minimum Number of Teeth to

Avoid Interference Pinion and
Rack

Min N

Ing. Mauricio Mojica Irigoyen M.C.

14
32

20
18

25
12

Minimum Number of Teeth to

Avoid Interference Identical

Pinion and Gear

The minimum number of teeth that two gears of equal size may have
and mesh together without interference can be determined from the
figure.

Min N
Ing. Mauricio Mojica Irigoyen M.C.

14
23

20
13

25
9

Maximum Number of Teeth to

Avoid Interference Pinion and

Gear

If the teeth in one gear are held at one of the values given, determine
the number of teeth that the second gear can have without causing
interference.

For =
20 Max N2
Min
N1
13

16

14

26

15

45

16

101

17

1309

18

Min N1
Max N2

Ing. Mauricio Mojica Irigoyen M.C.

14
23
26

20
13
16

25
9
13

Backlash

Ing. Mauricio Mojica Irigoyen M.C.

Determination of Backlash
(a)

(b)

Ing. Mauricio Mojica Irigoyen M.C.

(a) Outline of two standard gears meshing at the

standard center distance.
(b) Condition where two gears have been pulled
apart a distance C to give a new distance C.


Determination of Backlash

Ing. Mauricio Mojica Irigoyen M.C.

Example of Backlash
A 6 pitch (P = 6), 20 full-depth pinion of 36 teeth drives a gear with
60 teeth. If the center distance is increased by 0.25 in., calculate a)
the radii of operating pitch circles, b) the operating pressure angle,
and c) the backlash produced.

Ing. Mauricio Mojica Irigoyen M.C.

Example of Backlash
A 6 pitch (P = 6), 20 full-depth pinion of 36 teeth drives a gear with
60 teeth. If the center distance is increased by 0.25 in., calculate a)
the radii of operating pitch circles, b) the operating pressure angle,
and c) the backlash produced.

Ing. Mauricio Mojica Irigoyen M.C.

Gear Trains
Triple Reduction Speed Reducer

Ing. Mauricio Mojica Irigoyen M.C.

Simple Gear Trains

Angular velocity ratio

rv

=rpm

=rad/s

Ing. Mauricio Mojica Irigoyen M.C.

If the number of pairs is even the ratio will be

positive, and if the number of pairs is odd the
ratio will be negative.

External and Internal Gear

Meshes

Ing. Mauricio Mojica Irigoyen M.C.

Planetary Gear Example

VP 4 R2 R3
VP 3 R3

4 R2 R3 3 R3

VQ 2 R2
VQ 23 R3

2 R2 23 R

24 R2 R3 2 R2

4 n4
R2
R2

2 n2 2 R2 R3 R1 R2
n4
N2
40
1

n2 N1 N 2 80 40 3

Fixed
rotating
shaft
for
gear 2 and
arm 4

Ing. Mauricio Mojica Irigoyen M.C.

Mobile
rotating
shaft
for
gear 3

Planetary Gear Example (Table)

STEP II

n '1 n4
n '3 N1

n '1 N 3
n '3 n '1

N1
N
n4 1
N3
N3

STEPS

n4

n4

n4

n4

II

-n4

n4*N1/N2

-n4*N1/N3

III

n4(1+N1/N2)

n4(1-N1/N3)

n4

N
n '2
3
n '3
N2
n '2 n '3

N3
N
n4 1
N2
N2

N
N N2
n2 n4 1 1 n4 1
N 2
N2

Fixed
rotating
shaft
for
gear 2 and
arm 4

Ing. Mauricio Mojica Irigoyen M.C.

Mobile
rotating
shaft
for
gear 3

Planetary Gear Example (Table)

STEP II

STEPS

n4

n4

n4

n4

II
III

Start by giving all elements

the arms (4) revolutions per
minute (rpm).

Fixed
rotating
shaft
for
gear 2 and
arm 4

Ing. Mauricio Mojica Irigoyen M.C.

Mobile
rotating
shaft
for
gear 3

Planetary Gear Example (Table)

STEP II

Since element 4 has those

revolutions per minute, write
that on step III. Step III is
equal to the sum of steps I
and II.

STEPS

n4

n4

n4

n4

II

III

n4

Fixed
rotating
shaft
for
gear 2 and
arm 4

Ing. Mauricio Mojica Irigoyen M.C.

Mobile
rotating
shaft
for
gear 3

Planetary Gear Example (Table)

n '1 n4

STEP II

n '3 N1

n '1 N 3
N
N
n '3 n '1 1 n4 1
N3
N3

STEPS

n4

n4

n4

n4

II

-n4

III

n4

N
n '2
3
n '3
N2
n '2 n '3

N3
N
n4 1
N2
N2

N
N1 N 2
nIf2 you
n4 1know
1 the
n4 rpm
(n) of a
N
N

2
2
gear (1), write it down on step
III. Calculate its respective
step II.

Fixed
rotating
shaft
for
gear 2 and
arm 4

Ing. Mauricio Mojica Irigoyen M.C.

Mobile
rotating
shaft
for
gear 3

Planetary Gear Example (Table)

n '1 n4

STEP II

n '3 N1

n '1 N 3
N
N
n '3 n '1 1 n4 1
N3
N3

STEPS

n4

n4

n4

n4

II

-n4

-n4*N1/N3

III

n4(1-N1/N3)

n4

N
n '2
3
n '3
N2
n '2 n '3

N3
N
n4 1
N2
N2

N1
N1 N 2
nCalculate

n
1

n
step
the
II for a gear
2
4
4
N
N2

(3) that is making contact

with the previous gear (1).

Fixed
rotating
shaft
for
gear 2 and
arm 4

Ing. Mauricio Mojica Irigoyen M.C.

Mobile
rotating
shaft
for
gear 3

Planetary Gear Example (Table)

STEP II

n '1 n4
n '3 N1

n '1 N 3
n '3 n '1

N1
N
n4 1
N3
N3

STEPS

n4

n4

n4

n4

II

-n4

n4*N1/N2

-n4*N1/N3

III

n4(1+N1/N2)

n4(1-N1/N3)

n4

N
n '2
3
n '3
N2
n '2 n '3

N3
N
n4 1
N2
N2

N
N N2
n2 n4 1 1 n4 1
N 2
N2

Repeat the procedure for the

last gear (2).

Fixed
rotating
shaft
for
gear 2 and
arm 4

Ing. Mauricio Mojica Irigoyen M.C.

Mobile
rotating
shaft
for
gear 3

If arm 6 and gear 5 are driven counterclockwise at 150 and 50

revolutions per minute respectively, determine n2 in magnitude
and direction.
2
3
4
5
6
Steps
I
II
III

Ing. Mauricio Mojica Irigoyen M.C.

If arm 6 and gear 5 are driven counterclockwise at 150 and 50

revolutions per minute respectively, determine n2 in magnitude
and direction.
2
3
4
5
6
Steps
II
II
II

n
n66

n
n66

n
n66

n
n66
n5-n6
n5-n6

n
n66
0
0

III

n6+

n6

n6

n55

n66

Ing. Mauricio Mojica Irigoyen M.C.