11-Aug-19

Theory of Machines and Mechanisms 1 Gear Trains Theory of Machines and Mechanisms 2 Gear Trains

§1.Introduction
Gear train: a transmission system by more than one pair of gears
1.Application
- get a large train ratio

12. Gear Trains

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 3 Gear Trains Theory of Machines and Mechanisms 4 Gear Trains

§1.Introduction §1.Introduction
Gear train: a transmission system by more than one pair of gears Gear train: a transmission system by more than one pair of gears
1.Application 1.Application
- transmit motion between long distance shafts with constant ratio - branch transmission

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 5 Gear Trains Theory of Machines and Mechanisms 6 Gear Trains

§1.Introduction §1.Introduction
Gear train: a transmission system by more than one pair of gears Gear train: a transmission system by more than one pair of gears
1.Application 1.Application
- change the speed of rotation - change the direction of rotation

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

1
 11-Aug-19

Theory of Machines and Mechanisms 7 Gear Trains Theory of Machines and Mechanisms 8 Gear Trains

§1.Introduction §1.Introduction
Gear train: a transmission system by more than one pair of gears 2.Classification
z1
1.Application - Ordinary gear train z3 z3

- combine/resolve the motion The positions of all gear z2

axes in a gear train are fixed z
2 z4
- Epicyclic gear train
In each pair of gears, at least one
gear axis rotates the other axis 2
- Combined gear train 2
O2 C O2

C
1 OC O1

O1  OC 1

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 9 Gear Trains Theory of Machines and Mechanisms 10 Gear Trains

§2.Train Ratio of a Gear Train with Fixed Axes §2.Train Ratio of a Gear Train with Fixed Axes
- The train ratio: the ratio of the angular velocities of input and - Note z5
output members in the gear train z1 𝑧2 𝑧3 𝑧4 𝑧5
z4 𝑖15 = − + ′ − ′ −
z3
- Velocity ratio of a pair of gears 𝑧1 𝑧2 𝑧3 𝑧4
𝜔1 𝑛1 𝑟2 𝑧2 z2 𝑧2 × 𝑧3 × 𝑧5
𝑖12 = = =± =± z3 = (−1)3
𝜔2 𝑛2 𝑟1 𝑧1 z2 𝑧1 × 𝑧2′ × 𝑧3′
+ : internal gears − : external gears • the angular velocity changes sign when passing a pairs of
𝜔1
- For a train ratio 𝑖15 ≡ external contact gears
𝜔5
z5 𝜔1 𝜔2 𝜔3 𝜔4 → sign of gear train depends on the number of the pairs of
= × × × external contact gears
z1 z4 𝜔2 𝜔3 𝜔4 𝜔5
z3
= 𝑖12 × 𝑖23 × 𝑖34 × 𝑖45 • idle gear: the function of gear 4 is to change the rotating
z2
𝑧2 𝑧3 𝑧4 𝑧5 direction of the output gear, not the magnitude of the train ratio
z3 = − + ′ − ′ − • in general
z2 𝑧1 𝑧2 𝑧3 𝑧4
𝑧2 × 𝑧3 × 𝑧5 ς 𝑧passive
= (−1) 3 𝑖1𝑛 = (−1)𝑚 𝑚: the number of pairs of external contact gears
𝑧1 × 𝑧2′ × 𝑧3′ ς 𝑧active
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 11 Gear Trains Theory of Machines and Mechanisms 12 Gear Trains

§2.Train Ratio of a Gear Train with Fixed Axes §3.Train Ratio of Elementary Epicyclic Gear Train
- Note z5 - Suppose that the planet carrier 𝐶 rotates in an angular velocity
z1 z4
𝑧2 𝑧3 𝑧4 𝑧5 𝜔𝐶 . The train ratio of this gear train cannot be calculated simply
z3 𝑖15 = − + ′ − ′ − as a gear train with fixed axes because of the rotation of the
𝑧1 𝑧2 𝑧3 𝑧4
z2 𝑧2 × 𝑧3 × 𝑧5 planet carrier
z3 = (−1) 3
z2 𝑧1 × 𝑧2′ × 𝑧3′
2
• for spatial gear trains, the rotating direction of the gear can 2
only be determined by drawing O2 C O2

C
1 OC O1

O1  OC 1

1 : sun gear 2 : planet gear 𝐶 : planet carrier

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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 11-Aug-19

Theory of Machines and Mechanisms 13 Gear Trains Theory of Machines and Mechanisms 14 Gear Trains

§3.Train Ratio of Elementary Epicyclic Gear Train §3.Train Ratio of Elementary Epicyclic Gear Train
- Imagine that we add an angular velocity −𝜔𝐶 to the whole gear
train. It will keep the relative motion between any two links 𝜔𝐶 = 𝜔1 − 𝜔𝐶 𝜔1𝐶 𝜔1 − 𝜔𝐶
unchanged. Now the angular velocity of the planet carrier 𝐶 is ൝ 1𝐶 𝐶
⟹ 𝑖12 = 𝐶=
𝜔2 = 𝜔2 − 𝜔𝐶 𝜔2 𝜔2 − 𝜔𝐶 𝜔1 − 𝜔𝐶 𝑧2
𝜔𝐶 − 𝜔𝐶 = 0. This makes the planet carrier 𝐶 fixed and we can 𝑧2 ⟹ =−
𝐶 𝜔2 − 𝜔𝐶 𝑧1
treat the gear train as an ordinary gear train 𝑖12 = −
𝑧1
2 2
2 2
O2 C O2 O2 C O2

C C
1 OC O1 1 OC O1

O1  OC 1 O1  OC 1

1 : sun gear 2 : planet gear 𝐶 : planet carrier 1 : sun gear 2 : planet gear 𝐶 : planet carrier

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 15 Gear Trains Theory of Machines and Mechanisms 16 Gear Trains

§3.Train Ratio of Elementary Epicyclic Gear Train §3.Train Ratio of Elementary Epicyclic Gear Train
- Ex. z2
- Ex.
z2
𝐶
𝜔3 − 𝜔𝐶 𝑧2′ Parallel-guidance mechanisms
𝑖32 = =− 𝐶
3
C 𝜔2 − 𝜔𝐶 𝑧3 𝐶 𝐶 𝐶 𝑖3𝐶 = 1 − 𝑖31
𝜔2 − 𝜔𝐶 𝑧1 ⟹ 𝑖31 = 𝑖32 × 𝑖21 2
𝐶
𝑖21 = =− 𝑧 ′
𝑧1 𝑧1 𝑧2
𝜔1 − 𝜔𝐶 𝑧2 = −
2
− =1− − −
z1 z3
𝑧3 𝑧2 𝑧2 𝑧3 1

𝑧1
𝑧2′ 𝑧1
C
=1−
= 𝑧3
𝑧3 𝑧2 𝜔3
If gear 1 is fixed ≡
𝐶
𝜔3 − 𝜔𝐶 𝜔3 − 𝜔𝐶 𝐶 𝜔𝐶
𝑖31 = = = −𝑖3𝐶 + 1 → 𝑖3𝐶 = 1 − 𝑖31
𝜔1 − 𝜔𝐶 0 − 𝜔𝐶 Choose
If choose 𝑧1 = 99, 𝑧2 = 100, 𝑧2′ = 99, 𝑧3 = 100 𝑧1 = 𝑧3
ቊ𝜔 ≠ 0 ⟹ 𝜔3 = 0
𝐶
𝑧2′ 𝑧1 99 99 1 𝐶
𝑖3𝐶 = 1 − 𝑖31 =1− − − =1− × =
𝑧3 𝑧2 100 100 10,000

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Theory of Machines and Mechanisms 17 Gear Trains Theory of Machines and Mechanisms 18 Gear Trains

§3.Train Ratio of Elementary Epicyclic Gear Train §3.Train Ratio of Elementary Epicyclic Gear Train
- Ex. - Ex.
Differential gears Differential gears

C
3
2
1 2

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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 11-Aug-19

Theory of Machines and Mechanisms 19 Gear Trains

§3.Train Ratio of Elementary Epicyclic Gear Train

𝐶
𝜔1 − 𝜔𝐶 𝑧2 𝑧3 𝑧2
𝑖12 = =− = − = −1
𝜔2 − 𝜔𝐶 𝑧3 𝑧1 𝑧1
R → 𝜔1 + 𝜔2 = 2𝜔𝐶 (1)
• when the car move forward straight
𝜔1 = 𝜔2 (2)
(1) and (2) → 𝜔1 = 𝜔2 = 𝜔𝐶
r
• when the car turns right
C
3 𝜔1 𝑟𝑤 𝜔2 𝑟𝑤 𝜔1 𝑟
= → = (3)
2 𝑅 𝑟 𝜔2 𝑅
1 2
2𝜔𝐶
𝜔1 = 𝑟
1+
(1) and (3) → 𝑅
2𝜔𝐶 𝑟
𝜔2 = 𝑟
1+𝑅𝑅
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien