Gear Teeth/Cogs Research for T-CPR Arm Design

Stanley Eng Chun Wee

1002B70976
Definition of Gear
A gear or more correctly a "gear wheel" is
a rotating machine part having cut teeth, or cogs,
which mesh with another toothed part in order to transmit
torque. Two or more gears working in tandem are called
a transmission and can produce a mechanical advantage through
a gear ratio and thus may be considered a simple machine.
Geared devices can change the speed, magnitude, and direction
of a power source.
E.g.
Gears that will be used in the arm

Spur Gear

Internal gear
Gear calculations
Fig 1
Three spur gear tooth forms are generally used with pressure
angles of 14½, 20, and 25 degrees. The 14½ degree tooth form
is being replaced and made obsolete by the 20 and 25 degree
forms. Figure 1. illustrates these three pressure angles as applied
to a gear rack with all teeth being the same depth. 
The larger pressure angle makes teeth with a much larger base,
which  makes these teeth much stronger 
and also allows the production of gears with fewer teeth. Any
two gears in mesh with each other must be 
of the same pressure angle. 
When gear tooth measurements are to be made with gear tooth
calipers, the chordal tooth thickness and 
the chordal addendum must be calculated. 
Gear Ratio= Output gear # teeth / Input gear # teeth

For example, if our motor is attached to a gear with 60 teeth and this
gear is then attached to a gear with 20 teeth that drives a wheel, our gear
ratio is 60:20, or more accurately 3:1

Motor Torque x gear ratio = torque at the wheel

Lets say we have 2 gears. Our input gear (attached to our motor) has 10
teeth Our output gear has 50 teeth

Our Gear ratio is 5:1

Motor Torque x gear ratio = torque at the wheel

5oz x 5:1 = 25 oz

What if our gear ratio were 1:3 ?

5oz x 1:3 = 1.6oz

IMPORTANT THINGS TO KEEP IN MIND 

1: For gears to fit together they need to have the SAME PITCH (they
can have any number of teeth). 

2: The Pitch Diameter is roughly the Gear Diameter. (The Pitch

Diameter and the Pitch are two different measurements.)
Distance=20cm ( including camera) = 0.2m
Weight= 10, 15, 20, 25, 35 N

Torque required to lift arm, M= 0.2x W

Weight, N Output Torque, M (Nm)
10 2
15 3
20 4
25 5
30 6

Output Torque= gear ratio x motor Torque

Objective: Find out the suitable gear ratio and motor torque

Stepper motor
Tiki’s arm design

15cm

22cm

Overall view
Center Mechanism
Internal teeth, not drawn
Zoomed in and exploded view of mechanism