202 Machine component analysis with MATLAB®

Figure 6.8 Planetary gear train.

and the position vectors of points A, B, and C are

rA_ = [0 -r1 0];
rB_ = [0 -r1-r2 0];
rC_ = [0 -r1-r2-r2p 0];

The velocity at A is

vA = vO + ω1 × rA = ω1 × rA .

The velocity of C on the planet gear 2 is calculated as

vC2 = vA + ω2 × rAC .

The velocity of C on the ring gear 3 is

vC3 = vO + ω3 × r3 .

The angular velocity ω2 is calculated from vC2 = vC3 , or in MATLAB:

vO_ = [0 0 0];
vA_ = vO_ + cross(omega1_,rA_);
% velocity of C on planet gear 2p
vC2_ = vA_ + cross(omega2_,rC_-rA_);
% velocity of C on ring gear 3
vC3_ = vO_ + cross(omega3_,rC_);
Spur gears 203

eqvC_ = vC2_-vC3_;
eqvC = eqvC_(1);
omega2 = solve(eqvC,omega2);
omega2n = eval(subs(omega2,lists, listn));

% omega2 = -(omega1*r1 - omega3*(r1 + r2 + r2p))/(r2 + r2p)

% omega2 = 3.667 (rad/s)

The angular acceleration ω2 is calculated from aC2 = aC3 , or in MAT-

LAB:
alpha1_ = [0 0 alpha1];
alpha2_ = [0 0 alpha2];
alpha3_ = [0 0 alpha3];
aO_ = [0 0 0];
aA_ = aO_ + cross(alpha1_,rA_)...
+cross(omega1_,cross(omega1_,rA_));
aC2_ = aA_ + cross(alpha2_,rC_-rA_)...
+cross(omega2_,cross(omega2_,rC_-rA_));
aC3_ = aO_ + cross(alpha3_,rC_)...
+cross(omega3_,cross(omega3_,rC_));
eqaC_ = aC2_-aC3_;
eqaC = eqaC_(1);
alpha2 = solve(eqaC,alpha2);
alpha2n = eval(subs(alpha2,lists, listn));
% alpha2 = -(alpha1*r1 - alpha3*(r1 + r2 + r2p))/(r2 + r2p)
% alpha2 = 9.000 (rad/s^2)

6.2. Gear forces

For the next gear force calculation friction is assumed negligible, and
the gears are considered meshing along their pitch circles. The force be-
tween two contacting frictionless gears is calculated – as shown in Fig. 6.9
– at the pitch point P. Its tangential component Ft relates with the power
transmitted while its radial component Fr tends to separate the gears. The
two components are related by the equation

Fr = Ft tan φ, (6.9)

where the pressure angle is φ . In Fig. 6.9, gear 1 is the driver and gear 2 is
the driven gear. The pitch line velocity, V , is equal to