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Gears Kinematics
Gears Kinematics
1
Applications of Gears
• Toys and Small Mechanisms – small, low load, low cost
kinematic analysis
Internal gears
3
Types of Gears
Spiral
bevel gear
4
Types of Gears
Rack
5
Gear Design and Analysis
6
Nomenclature of Spur Gear
Teeth
Clearance
Fillet radius
Pitch circle
gear diam.
Base Circle
rG
Tangent at the
point of contact
rP
Generation of the involute curve
P=N/d
p (circular pitch) = πd / N
Pp = π
Metric system
m (module, mm) = d / N
9
Standard Tooth Specifications
Pressure angle
Base tion
of ac
circle Line
Pitch Pressure angle φ
circle
Pitch
Pitch circle
line
Base
circle
Line of centers
Power transmission, 2 ≤ P ≤ 16
11
Kinematics
ωp dp
Spur, helical and bevel gears
, Δθ is in radians
12
Kinematics
Worm Gear Sets
13
Kinematics of Gear Trains
ω5 output
= = input
ω2
mV = e = train value
Reverted gear train – output shaft is concentric
with the input shaft. Center distances of the
stages must be equal.
14
Kinematics of Gear Trains
Planetary gear trains
= e (train value)
15
Kinematics of Gear Trains
Determine the speed of the sun gear if the arm rotates at 1 rpm.
Ring gear is stationary.
16
Planetary Gear Trains - Example
Wave Generator
Consists of a steel disk and a specially design bearing. The outer surface
has an elliptical shape. The ball bearing conforms to the same elliptical
shape of the wave generator. The wave generator is usually the input.
Flexspline
The Flexspline is a thin-walled steel cup with gear teeth on the outer
surface near the open end of the cup. Flexspline is usually the output.
Circular Spline
Rigid internal circular gear, meshes with the external teeth on the Flexspline.
18
Harmonic Drive
The flexspline has two less teeth than the circular spline.