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LM2.1 Final
LM2.1 Final
Design of Shafts
1
Shafts
1. Rotating machine element
4. keys or splines.
Types:
2. An axle, though similar in shape to the shaft, is a stationary machine element and
3. A spindle is a short shaft that imparts motion either to a cutting tool (e.g. drill press
drawing or turning and grinding. The cold rolled shafts are stronger than hot rolled
2. The residual stresses may cause distortion of the shaft when it is machined,
3.Shafts of larger diameter are usually forged and turned to size in a lathe.
4
Types of Shafts
1. Transmission shafts.
Pulleys, gears etc., therefore they are subjected to
bending in addition to twisting.
2. Machine shafts.
These shafts form an integral part of the machine
itself. The crank shaft is an example of machine shaft.
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6
Stresses in Shafts
The following stresses are induced in the shafts :
Shear Stress
(a) 56 MPa for shafts without allowance for key ways.
(b) 42 MPa for shafts with allowance for keyways.
8
Design of Shafts
The shafts may be designed on the basis of
1. Strength
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1. Shafts Subjected to Twisting Moment
10
11
2. Shafts Subjected to Bending Moment
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13
Shafts Subjected to Combined Twisting
Moment and Bending Moment
When the shaft is subjected to combined twisting moment and bending
moment, then the shaft must be designed on the basis of the two moments
simultaneously. Various theories have been suggested to account for the
elastic failure of the materials when they are subjected to various types of
combined stresses.
1. Maximum shear stress theory
2. Maximum normal stress theory
14
15
Design of Shafts on the basis of Rigidity
1. Torsional rigidity.
2. Lateral rigidity.
1. Torsional rigidity.
16
Design of Shafts
1
Introduction
• Torque and Power Transmission
• Most of rotary prime movers either
motors or turbines use shaft to transfer
the power
• Bearings are required for support
• Shaft failure analysis is critical
2
Shaft Design
• Material Selection (usually steel, unless you have good reasons)
• Geometric Layout (fit power transmission equipment, gears,
pulleys)
• Failure strength
– Static strength
– Fatigue strength
• Shaft deflection
– Bending deflection
– Torsional deflection
– Slope at bearings and shaft-supported elements
– Shear deflection due to transverse loading of short shafts
• Critical speeds at natural frequencies
5
Axial Layout of Components
7–2
a shaft
n to support and
wo gears and two
Solution uses an
(a) (b)
on, three shaft
ey and keyway, and
housing locates the Fan
their outer rings
the thrust loads.
an-shaft
n. (d) Solution uses
ngs, a straight-
t, locating collars,
ws for collars, fan
an itself. The fan (c) (d)
ports the sleeve
6
This design represents good
practice for the situation in
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Shaft Design for Stresses
• Stresses are only evaluated at critical location
• Critical locations are usually
– On the outer surface
– Where the bending moment is large
– Where the torque is present
– Where stress concentrations exist
9
Bending, torsion, and axial stresses may be present in both midrange and alternating
ing magnitudes.
components. For analysis, it is simple enough to combine the different types of stresses
Shaft into
Stresses Shaft Stresses
alternating and midrange von Mises stresses, as shown in Sec. 6–14, p. 317.
It is sometimes convenient to customize the equations specifically for shaft applica-
Bending,
tions.torsion, and are
Axial loads axial stresses
usually may be present
comparatively in both
very small midrange
at critical and alternating
locations where
components. For torsion
bending and analysis, it is simple
dominate, enough
so they will betoleft
combine thefollowing
out of the differentequations.
types ofThe
stresses
Standard
into •alternating
fluctuating and stress
stressesmidrange equations
von and
due to bending Mises can are be
stresses,
torsion customized
as
given byshown in Sec. for shafts
6–14, p. 317.
It is sometimes convenient to customize the equations specifically for shaft applica-
• Axial loads are σgenerally
tions. Axial loads are usually
Ma c small so M
comparatively
Kf σmvery
only
mc bending and(7–1) torsion
= K fsmall at critical locations where
will
a =
bending be
and considered
I I
torsion dominate, so they will be left out of the following equations. The
fluctuating stresses due to bending Ta c Tm c
• Standard alternating
a τ = Kand torsion
f s and midrange
m fs τ are
= Kgiven by
stresses can be calculated (7–2)
J J
Ma c Mm c
σ
where Mm and Ma are the = K
a midrange
f σ =
and alternating
m Kbending
f moments, Tm and Ta are(7–1)
I I
the midrange and alternating torques, and K f and K f s are the fatigue stress-concentration
factors for bending and torsion, respectively.
Ta c Tm c
τ
Assuming a solid shaft = K τ =
a withf sround cross section,
m K fappropriate
s geometry terms can(7–2)
J J
be introduced for c, I, and J resulting in
where Mm and Ma are the midrange and alternating bending
32Ma 32Mm
moments, Tm and Ta are
the midrange and alternatingσtorques,
a = K f and K and K fKs fare the
σm = fatigue stress-concentration
(7–3)
πd 3 f πd 3
factors for bending and torsion, respectively.
Assuming a solid shaftτwith 16Tacross section, 16T
round appropriate geometry terms
(7–4) can
m
a = K fs 3
τm = K f s 3
be introduced for c, I, and J resultingπdin πd
32Ma 32Mm
σa = K f σm f (7–3)
πd 3 πd 3
10
16T 16T
Design Stresses
Combining these stresses in accordance with the distortion energy failure theo
Calculating
von •Mises stresses vonMises Stresses
for rotating round, solid shafts, neglecting axial loads,
n by
!" #2 " #2 $1/2
′ 2 2 1/2 32K f Ma 16K f s Ta
σa = (σa + 3τa ) = 3
+3 3
(7
πd πd
!" #2 " #2 $1/2
′ 2 2 1/2 32K f Mm 16K f s Tm
σm = (σm + 3τm ) = 3
+3 3
(7
πd πd
11
Shaft Stresses
Shaft Stresses
Modified Goodman
Substitute von Mises stresses into failure criteria equation.
example,
Substitute von Mises using modified
stresses Goodman
into failure line,
criteria equation. For
• example, usingvonMises
Substituting modifiedinto
Goodman
failure line,
criterion
13
Gerber
Shaft Stresses
DE-Gerber
where
Other Criteria
/
A = 4(K f Ma ) 2 + 3(K f s Ta ) 2
/
Shaft Stresses
B = 4(K f Mm ) 2 + 3(K f s Tm ) 2
• ASME Elliptic
DE-ASME Elliptic
DE-ASME Elliptic
$ % &2 % &2 % &2 % &2 '1/2
1 16 K f Ma K f s Ta K f Mm K f s Tm
= 4 +3 +4 +3
n πd 3 Se Se Sy Sy
(7–11)
⎧ $ % ⎫
⎨ 16n &2 % &2 % &2 % &2 '1/2 ⎬ 1/3
K f Ma K f s Ta K f Mm K f s Tm
d= 4 +3 +4 +3
⎩ π Se Se Sy Sy ⎭
(7–12)
• DE Soderberg
DE-Soderberg
DE-Soderberg 0 3
1 16 1 1 21/2 1 1 21/2
= 4(K f Ma )2 + 3(K f s Ta )2 + 4(K f Mm )2 + 3(K f s Tm )2
n πd 3 Se Syt
(7–13)
% 0
16n 1 1 21/2
d= 4(K f Ma )2 + 3(K f s Ta )2
π Se
3&1/3 (7–14)
1 1 2
2
2 1/2
+ 4(K f Mm ) + 3(K f s Tm )
Syt
Shigley’s Mechanical Engineering Design
15
m and Ta equal to 0, which simply drops out some of the terms.
Rotating Shaft
• For rotating shaft with steady, alternating bending
and torsion
– Bending stress is completely reversed (alternating), since a
stress element on the surface cycles from equal tension to
compression during each rotation
– Torsional stress is steady (constant or static)
– Previous equations simplify with Mm and Ta equal to 0
16
YieldingChecking
Check for Yielding in Shafts
• Always necessary to consider static failure, even in fatigue
situation Always necessary to consider static failure, even in fatigue
situation
• Soderberg criteria inherently guards against yielding
Soderberg criteria inherently guards against yielding
• ASME-Elliptic criteria takes yielding
ASME-Elliptic into account,
criteria takes yielding intobut is notbut is not
account,
entirely conservative
entirely conservative
• Gerber and modified
GerberGoodman
and modifiedcriteria
Goodmanrequire
criteriaspecific check check
require specific
for yielding yielding
17
Yield Check
Checking for Yielding in Shafts
Transverse Deflections
19
7–5 Deflection Considerations
Determination of deflections
• Linear & angular deflections, should be checked at gears and
bearings
• Deflection analysis is straightforward, but very lengthy and
tedious to carry out manually. Consequently, shaft deflection
analysis is almost always done with the assistance of
software(usually FEA)
• For this reason, a common approach is to size critical locations
for stress, then fill in reasonable size estimates for other
locations, then check deflection using FEA or other software
• Software options include specialized shaft software, general
beam deflection software, and finite element analysis (FEA)
software.
20
Critical Speeds
• For a rotating shaft if the centripetal force is equal to the
elastic restoring force, the deflection increases greatly and the
shaft is said to "whirl”
• Below and above this speed this effect is not pronounced
• This critical (whirling speed) is dependent on:
– The shaft dimensions
– The shaft material and
– The shaft loads
21
Critical speeds of shafts
Force balance of restoring force and centripetal,
!"# $ = &$
k is the stiffness of the transverse vibration
&
" = 2 678 =
!
The critical speed for a point mass of m,
1 &
78 =
26 !
For a horizontal shaft,
1 :
78 =
26 $
Where y = the static deflection at the location of the concentrated mass
22
# $2 # $2
π EI π gE I
ω1 = = (7–22
l m l Aγ
Ensemble of lumped masses
mass per unit length, A the cross-sectional area, and γ the specifi
ensemble
• Forofensemble
attachments, Rayleigh’s
of lumped massesmethod
Raleigh’sfor lumped
method masses gives
pf lumped
masses gives, & !
g wi yi
ω1 = ! 2
(7–23
wi yi
weight of the ith location and yi is the deflection at the ith body location
• where
use Eq. wi for
(7–23) is the
theweight
case of of the
Eq. ith location
(7–22) byand yi is the the shaft int
partitioning
deflection
lacing its weightatforce
the ithatbody
the location
segment centroid as seen in Fig. 7–12
23
Beam Theory
• m = Mass (kg)
• Nc = critical speed (rev/s )
• g = acceleration due to gravity (m.s-2 )
• O = centroid location
• G = Centre of Gravity location
• L = Length of shaft
• E = Young's Modulus (N/m2)
• I = Second Moment of Area (m4)
• y = deflection from δ with shaft rotation = ω δ static
deflection (m)
• ω = angular velocity of shaft (rads/s)
24
Whirling Speed
• The centrifugal force on the shaft = m ω 2(y + e) and the
inward pull exerted by the shaft, F = y48EI / L3 for simply
supported. For a general beam F= y K EI / L3
where K is constant depending on the loading and the end
support conditions
25
with a central mass K = 48 .. See examples below
Critical Speed
3 in the above equation for y results in the following equation
• The critical speed is given by
city with the deflection.
This curve shows the deflection of the shaft (from the static deflection position) at any speed ω in
terms of the critical speed.
When ω < ωc the deflection y and e have the same sign that is G lies outside of O. When ω26> ωc
then y and e are of opposite signs and G lies between the centre of the rotating shaft and the static
eflection curve. At high speed G will move such that it tends to coincide with the static
eflection curve.
Cantilevered Shaft
28
Cantilevered Shaft
Cantilevered Shaft
29
Shaft Between long bearings
Combined loading
Dunkerley’s Method
Combined loading
31