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ME 308 Machine Elements Ii: Spring Design - 1
ME 308 Machine Elements Ii: Spring Design - 1
MACHINE ELEMENTS II
CHAPTER 2
SPRING DESIGN_1
1
SPRINGS
NO RIGID BODY BEHAVIOUR(AS IN STATICS),
ON THE CONTRARY,
2
Objectives of the Chapter
Identify, describe, and understand principles of several
types of springs including
helical compression springs,
helical extension springs and
torsion springs.
Design and analyze helical compression springs, including
compatibility with allowable stresses.
Develop necessary analytical tools for spring design.
Review principles of design for other types of springs, such
as extension springs and torsion springs.
Select predesigned springs from manufacturers’ catalogs
and
incorporate them in appropriate designs.
3
Mechanical Springs
Springs are mechanical elements
used in machines for
exerting force,
storing and absorbing energy, and
providing flexibility.
4
2.1 INTRODUCTION
Springs are the mechanical elements which transfer a tensile or
compressive force with a certain linear deflection or a torque with
angular deformation.
They also store energy and release it when the load or torque is
removed from the system.
F
„‟scale of spring‟‟ k or k
dF for compression springs
y
dy
dF
Fig. 2.2 Linear springs
(with constant spring rate) dy
6
2.2 SPRING TYPES
A. Wire springs (made of wire with B. Other springs (made of
round crossection) non-wire)
1) Helical compression springs 4)Spring washers
Standard constant rate (Belleville, wave, slotted
Variable pitch-variable rate finger, curved etc.)
Barrel 5)Beam springs
Hour glass 6)Volute springs
Conical 7)Constant force
8)Power or motor springs
2)Helical extension springs
Extension springs with hooks
Draw bar springs (compression
springs) used in tensile loading are
a kind of extension springs
applications.
3)Torsion springs
7
Here are some examples for wire springs
8
These are the other springs (non-wire)
10
2.2.3 A torsion spring application in a garage door
Torsion springs
11
This is how coil springs are manufactured on a lathe
12
2.3 Spring configurations
a) In series
b) In parallel
13
14
2.3 Spring configurations
k1
k1 k2
X1
k2
X X1 X 2 X
Ft
xt F X2
F= F1=F2 Ft= F1+F2
Xt = X1+X2 X = X1=X2
15
a) In series
xt x1 x2 1
F1 F2 Ft 2
F1 k1
F1 k1.x1 x1
k1
F2
F2 k2 .x2 x2 into
X1
k2 eqn 1
Ft k2
Ft kt .xt xt
kt
Ft
F1 F2
, Ft F1 F2 xt F X2
kt k1 k2
1 1 1
... (2.1)
kt k1 k2 kt is the total system stiffness
in series applications.
16
b) In parallel
x1 x2 1
Ft F1 F2 2 k1 k2
F1 k1.x1 k1.x
X X1 X 2 X
F2 k2 .x2 k2 .x into 2 Ft
Ft kt .x F1 F2
kt .x k1.x k2 .x
kt k1 k2 ... (2.2)
F1 F2
total system stiffness in parallel
applications F1 F2
Ft 17
2.4 Spring materials
• Springs store potential energy while deflecting a noticable amount under
reasonably high loads.
• By doing so, they provide maximum elastic energy storage while not
failing due to high stresses in material
• Elastic energy storage capacity or Modulus of resilience was defined as
the area under the σ-ɛ curve within elastic range
1 1 y S
1 y
2
R y y (2.3)
2 2 E 2 E
Therefore springs are required to have:
High yield strength (and hence high ultimate strength) and
19
2.4.2 Tensile strength of spring materials
As known from ME 215 and ME307 courses, for the same mat. composition,
•Larger the material or specimen size higher the risk of having non-
homogenous material hence lower the material strength (Sy or Sut )
d ; Sut ıf d
sut
If or ; Sut
A=2000, m=0.167
d
3000
2000
Or Sut=1/d 1500
1000
0 1 2 3 4 5 6 7
wire diameter, mm 20
For spring materials Sut is defined as A
Sut m (2.4)
d
where d is wire diameter in mm and constants A & m
are given in tables for different spring materials
( A= 1750 - 2170 MPa, m= 0.112 - 0.192)
21
2.4.3 Materials for Helical Springs
Springs are most commonly manufactured by hot- or cold-working processes
depending upon the material size, the spring index (C), and the desired
properties.
The are a numerous spring materials available for the designer. These
include: plain carbon steels, alloy steels, corrosion resisting steels, phosphor
bronze (nonferrous alloy), spring brass, beryllium copper and various nickel
alloys.
Sut, MPa
A (MPa.mm-m) is a constant defined
2000
through experimentation,
d (mm) is the diameter of the wire and 1500
23
Here are the lower limits of Ssy for different
spring materials:
Valve Spring Wire (Cr-Va, Cr-Si), hardened and tempered carbon and
low alloy steel wire:
S sy 0.50Sut (2.10)
Nonferrous Materials:
S sy 0.35Sut (2.11)
24
2.5 Helical Compression Spring Geometry
Compression springs carry only compression loads.
Compression springs are the wire springs wound helically with coils not
touching each other under no load and while operating.
25
There are 4 common types of ends of compressions springs:
Plain end
Squared end
Plain& ground end
Squared & ground end
26
Here again 4 common types of compressions springs ends and
corresponding inactive (dead) coils due to squaring and grinding
27
“d” is the wire diameter
28
The solid height/length of a spring is the height of a compression
spring when under sufficient load to bring all the coils into contact
with adjacent coils.
Ls Nt a d
For squared ground ends
L0 pN a 2d
p
29
Here are the similar equations for different end conditions:
Ls Nt a d
L0 pN a 2d
30
2.5 Helical Compression Springs under loads (Recommended
Design Conditions)
Spring Index factor C usually takes a value between 4 & 12.
D
C 4 C 12 (2.12)
d
For C<<4 spring wire diameters become too large compared to the
diameter of the coil thus increasing the risk of surface cracking when
winding the spring (spring are difficult to manufacture)
3 N a 15 (2.13)
31
Spring rate or stiffness of the spring is
the ratio of force applied to
corresponding deflection (or the slope
of the curve)
F
k (2.14)
y
Springs are not to be used in first and
last 15% of the deformation range
hence leaving a “clash allowance”
before the solid condition
0.15
In case the spring is forced to solid
condition, design factor of solid
height, ns is also suggested as
ns 1.2 (2.15)
32
F
Applying
section method
and taking
upper half of
the spring
33
Wire cross section resists both direct shear
stress and torsional shear stress at the same
time
F Tr
max (2.16)
A J
Direct Torsional
shear part shear part
Since T
FD
r
d d 4 d 2
2
J A
2 32 4
The shear stress is then expressed as
4 F 8FD
max 2 (2.17)
d d 3
Direct shear
Torsional
part
shear part 34
Defining the spring index, C=D/d 4 F 8FD
and using it in the stress equation max (2.18)
d 2
d 3
8FD
OR in general terms max K (2.22)
d 3
35
Within the general equation
37
In static type loadings (constant load), the curvature factor
Kc will be neglected and only factor Ks will be used within
equation
8FD
Ks
d 3
Whereas in fatigue type loadings (varying load), the
curvature factor Kc will be used, but not as a stress raiser, on
the contrary as a strength reduction factor in Sse. Factor Ks
will still be used in stress equation
K 1 8FD
KC 1 ke Ks
KS Kc d 3
S se ka * kb * kc * kd * ke * k f * S se '
38
Remembering from failure theories of ME307 (static loading
case) that:
max S sy or max K
8Fmax D
S sy
d 3
S sy
s 1.2
max
39
2.5.3 Deflection and Stiffness of Helical Springs
By using Castiglione's theorem, the total
strain energy for a helical spring is
composed of a torsional component and a
shear component.
F F2
U y U
T 2l
F 2l
2 2k 2GJ 2 AG
Where
FD d 4 d 2
T , l DN , J , A , N Active CoilNumber
2 32 4
40
Therefore to find total deflection the total strain energy
is partial derivated wrt the force F
U 8FD 3 N 4 FDN
y 2
F 4
d G d G
Since C = D/d
8FD 3 N 1 8FD 3 N
y 1 2
(2.28)
d G 2C
4
d 4G
F
The spring rate (know also as the scale of the spring) is : k
y
d 4G k is spring constant
k Na=active coil number (2.29)
8 D 3 Na
41
Remembering that there are 4 common types of compression spring ends
with some coils made inactive (dead) due to squaring and grinding:
42
For important or critical applications springs
should be both squared and ground for
better load transfer and stability.
Stability means a spring will not buckle
under load
To prevent buckling:
1) Either the ratios of y l f andl f D should be kept in
certain limits given in figure in text book.
Drod Do
Di Drod 0.1d w
Di Dhole Do 0.1d w
45
2.6 Buckling of the springs in compression
Springs with
Lf /D > 3.8 are likely to fail by buckling
.
ymax .
.
lf .
.
.
3.8 lf D
46
Example 1
A Chromium-Vanadium wire spring has a mean diameter of 10.0 mm,
a spring index, C = 5.56, and there are 100 active coils. The pre-load
is 20 N and the modulus of elasticity is 207.5 GPa.
Table 1.1 Spring materials and constant for estimating tensile strength
Material Size range Exponent, m Constant, A
(mm) (MPa.mmm)
Music wire 0.10-6.5 0.146 2170
Oil-tempered wire 0.50-12 0.186 1880
Hard-drawn wire 0.70-12 0.192 1750
Chrome-vanadium 0.80-12 0.167 2000
Chrome silicone 1.60-10 0.112 2000
47
Determine:
The tensile and torsional yield strengths of the wire
The initial torsional stress in the wire
The spring rate; and
The force required to cause the spring to be stressed to the yield
strength
Solution:
Given: material=Chromium-Vanadium, coil mean dia D=10mm,
coil no=100, C=5.56 (can determine wire diameter, d)
This is not a design problem. This is an analysis problem since spring
specifications like material, diameter, coil no etc. are known)
therefore we do not use 3<Na<15 criterion
• C = 5.56 = D/d = 10/d
therefore, d = 10/5.56 = 1.8mm
2000
Using Table 1.1,
Sut 1813.00MPa
1.8mm 0.167
48
Determine:
The tensile and torsional yield strengths of the wire (Sy and Ssy)
Sy=0.75*Sut A 2000
S ut m Sut 1813.00MPa
Ssy=0.577*Sy d 1.8mm 0.167
49
Determine:
• The initial torsional stress τi in the wire under the effect of preleoad
0.5 0.5
K s 1 1 1.089
C 5.56
τ
Initial stress i can be calculated as follows:
8Fi D 8 20 N 10mm
i Ks 1.089 95.1MPa
d 3
(1.8mm) 3
50
Determine:
The spring rate; and
The force required to cause the spring to be stressed to the yield strength
iv. Finally the force required to yield the material can now be
calculated from:
8Fsy D
max K s Ssy
d 3
d 3 S sy (1.8mm)3 785 N / mm2
Fsy
8K s D 8 1.089 10mm
165 N Ans 51
Problem: A helical spring of wire diameter 6mm and
spring index, C, 6 is acted by an initial load of 800 N.
52
2.7 Critical frequency of helical springs
Since the springs are flexible they can vibrate at certain
frequencies under the effect of loadings.
When the loading frequency „f „of the spring under the
dynamic load F= F*sin wt reaches one of its natural
frequencies (f n) the spring coils will vibrate at large
amplitudes until the coils impact each other and create
high impact loads and hence fail.
If the frequency is not high enough, the spring should be redesigned to increase
k or decrease spring weight W. 53
Natural frequency
rad / sec
1 k*g k*g k N /m (kg * m / s2) / m
fn
2 Wa m* g m kg kg
From table 10.2; for hard drawn wires diameter range is between 0.7 mm-12 mm
The coefficients are: m= 0.192, A= 1750 MPa to be used in eqn.
A
Sut m
d
S sy
Design criteria: 1) max S sy or ns 1.0
max
2) 4 C 12
Lf ymax
3) check for buckling ? ? (related figure)
D Lf
4) not a must , but check if solid S sy
55
Table 1.1 Spring materials and constant for estimating tensile strength
56
For a spring to be designed, the parameters:
d=? D=? Nt = ? Lf = ? should be determined.
1) Since none of the design parameters are known, we have to start
by assuming a wire diameter d between 0.7-12 mm
Let d= 4 mm and C= 8 D= C.d = 32 mm
8 FD 0.5
Thus :
max Ks Ks 1 1.0625
d 3 C
(8)(750)(32) F 750 N
max 1.0625
43 D 32 mm
max 1014.6 MPa d 4 mm
1750
Sut 1341 MPa
40.192
0.5 8(750)(40)
Ks 1 1.0625 max 1.0625 649.4 MPa
8 5 3
Ls NT d 20.5 5 102.5 mm
y w 20 mm given in problem
L f Ls yclash ywork yinitial y clash 0.1 y w 2 mm
L f 102.5 2 20 40 164.5 mm Fmin 500
yinitial 40 mm
L f 164.5 mm k 12.5
60
3) Check for buckling
.
Lf 164.5 ymax .
5.48 3.8 likely to buckle Lf .
D 30 .
ymax yi yw 40 20 . B
0.365 . A
Lf Lf 164.5 3.8 Lf D
62
?
4)
solid S sy
solid requires the force Fsolid k L f Ls
12.5164.5 102.5 775 N
8 775 30
solid 1.0833 513 MPa
53
S sy
nsolid
max
556
1.08 1.0 OK ! no failure
513
63
5) critical frequency
fn
1 k
rad / sec
2 ms
52 9 m 3
30 20.5 10
kg
ms A L
3
7800 3
4 mm m
ms 0.296 kg
64
SOLUTION:
d 5 mm
D 30 mm Di 25 mm NT 20.5 coils squared & ground ends.
C 6 Do 35 mm L f 164.5 mm flat & parallel ends.
65
TO BE CONTINUED
66