T H E A R C H I V E O F M E C H A N I C A L E N G I N E E R I N G

VOL. LIX 2012 Number 2

10.2478/v10180-012-0011-4
Key words: planetary gear, teeth correction, geometrical dimensions, assembly condition, fatigue and contact surface
strength

JAN RYŚ ∗

THE PROCEDURE OF MODIFICATION COEFFICIENTS IN

PLANETARY GEAR TRANSMISSION

The aim of this article is to present the design procedure for determining mod-
ification coefficients of toothed wheels of involutes planetary gear train with internal
conjunction of teeth. It is possible to obtain a higher load-carrying capacity which
depends also on correction coefficients. For example, we take into consideration a
concept of planetary gears in which the teeth can be corrected, which allows better
fatigue and contact surface strength.
Two cases are considered when the namely zero center distance (without cor-
rections) of the central and satellite wheels is the same or not, in relation to the zero
center distance between the satellite and the sun wheel.
Geometrical dimensions are described with regard to the technological teeth
correction scope, and inequality restriction conditions are determined with respect to
the ISO standards recommendations and the literature. The procedure can be applied
to any other planetary gears with another kinematic connection of wheels.

1. Fundamental design relation and restrictions of planetary gears

The scheme of a stage planetary gear with correction coefficients is

shown in Fig. 1. The basic mechanical configuration consists of two co-
operating pairs of gears with the same distance of the rotation axis. We
assume that the tools which generate the teeth have the module “m”, the
profile angle “α”, the addendum factor y=1 and the tip clearance factor
co =0.25.
On the basis of a standard rack, cutting tools can generate toothed wheels
with different coefficients of corrections. Under these assumptions, the radii
of the rolling circle are different then the radii of the pitch diameters and
the pressure angle of the co-operating teeth z1 /z2 and z2 /z3 are different then
∗
Cracow University of Technology, Faculty of the Mechanical Engineering, Chair Fun-
damentals of Machine Design, Institute of Machine Design (M-3). Al. Jana Pawla II 37,
31-864 Krakow, Poland; e-mail: szymon@[Link]
214 JAN RYŚ

the profile angle of the tools. In some cases it is possible when the pressure
angles αw “ , αw ‘, as indicated in Fig. 1, that the satellite wheel has one
radius of the pitch diametric circle, but it has got a pair of rolling circles
with the radii rw ‘ and rw “. the Superscripts (‘) determine the data for the
toothed wheels z1 /z2 , and the superscripts (“) determine the data for the
toothed wheels z2 /z3 .
An example of a gearbox project is presented in Fig. 2, where the cen-
tral wheel z1 working without bearings (the floating wheel-9) and the self-
aligning bearings (32) of satellites z2 guarantee uniform redistribution load
to each satellite wheel (11).

Fig. 1. Geometric diagram of a one stage planetary gear with correction coefficients

If we know the corrections coefficients modification x1 ;x2 ;x3, then the

proportions of toothed engagements in a circumferential cross-section can
be found from the formulas presented in literature [1],[3]. The factor “x”
changes the relative proportions of the teeth, since the actual shift of the tool
r in relation to the blank equal “X=x*m” changes too at the moment the
cutting process is completed. The displacement “X” is a distance between
the pitch circle of the cutting wheel and the pitch circle or the pitch line
of the tool, the sign of “x is positive when displacement “X” is outside of
material of the cutting wheel in relation to the central point during the cutting
process; otherwise, it is negative.
On account of the proper assembly, it is necessary to set the satellite
wheels symmetrically in relation to the central and the sun wheel. A correct
distance between the addendum circles of the neighboring satellites requires
satisfying some restrictions as to the proper number of teeth z1 ;z2 ;z3 and the
number of satellite wheels as it was presented in [1],[2].
 THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 215

Fig. 2. Structure of a one stage planetary gearbox with 3 satellite wheels

The next important problem is connected with noninterference internal

engagements of the satellites and the sun wheel, which requires taking in-
to account the changing geometry caused by corrections coefficients. The
condition of noninterference located on the dedendum circle of the satellite
wheel [2] is s " #
1 ra3 2
z2 > z3 · {1 − 1 − 1−( ) } (1)
sin2 αw00 rw3
where: ra3 – the addendum radius of the sun wheel, rw3 – the radius of
the rolling circle of the sun wheel. On the basis of the formula (1) Fig. 3
shows the relations z2 >z2 (z3 ) which secures noninterference located on the
addendum circle of the satellite wheel [3], [7] when x2 =x3 =0.
Mathematical notation of the condition of noninterference located on the
addendum circle of the satellite wheel [2] is more complicated:
z2
φ3 − ϑ3 < (φ2 + ϑ2 ) · (2)
z3
2 2
ra3 − ra2 + a2w 2
ra3 2
− ra2 − a2w
φ3 = ar cos ; φ2 = ar cos (3)
2 · aw · ra3 2 · aw · ra2
216 JAN RYŚ

00 rb3 rb2 00
ϑ3 = inv(αw ) − inv[ar cos( )] ; ϑ2 = inv[ar cos( )] − inv(αw )
ra3 ra2
00
aw = 0.5(z3 − z2 )mw

Fig. 3. Minimal number of satellites teeth z2 , y=1, α =20◦

The inequality (1) and (2) must be verified when the dimensions of the
toothed wheels have been defined.

2. Valuable limit of coefficient of corrections ”x”

The original designs of the conjunction of the toothed wheels must satisfy
Fölmer’s equations by the relations.

{[tan(αw/ ) − αw/ ] − tan(α) + α} · (z1 + z2 )

x1 + x2 = C1 = (4)
2 · tan(α)
00 00
{[tan(αw ) − αw ] − tan(α) + α} · (z2 − z3 )
x2 + x3 = C2 =
2 · tan(α)
where: x1 ; x2 ; x3 – correction coefficients modification, z1 ; z2 ; z3 – the
number of teeth of the central, satellite and sun wheels, α – the profile
angle of tools (e.g. for a sun wheel gear-shaper cutter – Fellows on slotting
machine). If x1 = x2 = x3 = 0 , then the planetary gear is without correction
modifications, in addition, when x1 + x2 = 0 ∧ x3 + x2 = 0, we have
the corrections named P0; and in both of these cases the pressure angle,
according to Fig.1, αw “ = αw ‘= α, and the coefficients C1 =C2 =0. When
C1,0 and C2,0 the corrections has the name P.
For each wheel of external conjunction with z1 and z2 , the correction co-
efficient is limited by: no-undercutting condition, minimal thickness of teeth
 THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 217

greater than 0.3*m in the radius of the addendum circle ra (tooth thickness
at the top), the radius of the diametric pitch “r” is in the measuring zone
ra >r>r f –c, c=co *m, r f – the radius of the dedendum circle.

19 z
x≤ + 10 · f or 10 ≤ z ≤ 24 ∧ x ≤ 1 f or z ≥ 25 (5)
289 289

z
x ≥1− f or 10 ≤ z ≤ 32 ∧ x ≥ −0.9 f or z ≥ 33 (6)
17
For the sun wheel z3 when z3 >30 the corrections coefficient should be

0.5 ≥ x3 ≥ −0.5 f or z3 ≥ 65 (7)

For all these reasons, corrections coefficients have been limited and geometric
parameters are not identical; that is why it is possible to obtain a higher load-
carrying capacity which depends also on correction coefficients.
The application of proper correction coefficients gives us the possibility
to find a better fatigue and contact strength of the cooperating teeth.
Let us consider two cases:
Case I, when z1 +z2 =z3 -z2 , the zero center distances of wheels are the
same,
Case II, when z1 +z2 , z3 -z2 , the zero center distances of wheels are
different.
In these cases, the solutions of geometry are different when one applies
a rational method of achieving better strength in each separate case. The
example of a planetary gear in both cases is presented in Fig. 4. The satellite
wheels are located symmetrically in relation to the central and the sun wheel
with a correct distance between the addendum circles of the neighboring
satellites, at the same time, some restrictions concerning the proper number
of teeth z1 ; z2 ; z3 are satisfied.
According to Fig. 1, the constant center distance “a” of the wheels forces
00 0
the pressure angles αw and αw which are given by

0 2·a 00 2·a
cos αw = cos α , cos αw = cos α (8)
z1 + z2 z3 − z2

In case I, when z1 +z2 =z3 -z2 , the zero center distances of the wheels are the
00 0
same, then αw = αw = αw , and in accordance with (4) C1= – C2= C, the
relations between the corrections coefficients are limited by (9)

x1 + x2 = C ; x2 + x3 = −C (9)
218 JAN RYŚ

Fig. 4. Case I, when z1 +z2 =z3 -z2 , the same zero center distance central/ satellite and satellite,
/sun wheel. Case II, when z1 +z2 , z3 -z2 , zero center distance of wheels are different

If we do not take the correction type P0 into account, then assuming the
value of x2 we obtain other correction factors

x1 = C − x2 ∧ x3 = −C − x2 ⇒ x1 − x3 = 2 · C
‘ cos α “ cos α
rw2 = 0.5 · z2 · ‘
; rw2 = 0.5 · z2 · (10)
cos αw cos αw“
‘ “
rw2 = rw2 = rw2

In case II, when z1 +z2 ,z3 -z2 , the zero center distances of the wheels are
00 0
the different, thenαw , αw , and in accordance with (4) C1,C2 the relations
between the corrections coefficients are limited by equations

x1 + x2 = C1 , x2 − x3 = C2
‘ cos α “ cos α
rw2 = 0.5 · z2 · ‘
; rw2 = 0.5 · z2 · . (11)
cos αw cos αw“
‘ “
rw2 , rw2

Then the satellite wheel has one radius of the pitch diametric circle but it
has a pair of rolling circles with the radii’ rw ‘ and rw “.
The formulas for determining the main dimensions describe the con-
junctions of the teeth without backlash (pitch play). In the cutting process of
the satellite we have to decrease the correction factor x2, in order to obtain
the operational backlash value Lb expressed by the following formula for
amendment ∆x2 .
−2 · Lb
∆x2 = (12)
m · sin α
 THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 219

3. Main criteria of fatigue and surface strength

In engineering practice, we use the following ISO [4] formulas to com-

pute the fatigue stresses at the root of teeth σF and surface fatigue stresses
σH in the zone of one pair of contact teeth,

Ft KF
σF1,2 = YFS1,2Yε Yβ ≤ σFP , (13)
b w mn

r
Ft KH u + 1
σH = Z E Z H Z ε Z β ≤ σHP , (14)
bw d 1 u

where: σFP – is the allowable stress at the root, σHP – is the allowable surface
stress, Ft – is the nominal circumferential load of the cooperating wheels,
bw – the width of the wheels, d1 – the pitch diameter of a pinion, mn – the
gear module of the pair of cooperating teeth. The calculation variables KF ,
KH , YFS , Yε , Yβ , ZH , ZE , Zε , Zβ and allowable stresses from the formulas
(13), (14) are defined in [4].
The fatigue stresses at the root of teeth σF and surface fatigue stresses
σH depend on relations Y FS (x, z) , ZH (ρB2 ) where ρB2 (x, z1 , z2 ) is the reduced
radius of curvature for the mating moment at the contact point of one pair,
B2 .
Fig.5a shows the line of contact (actions) ξ, the segment of pressure
contact E1 E2 , the radii of basic circles rb1 , rb2 , the radii of the addendum
circles ra1 , ra2 , the pitch on basic circles pb and the pressure angle αw , εα –
the tooth contact ratio. 
Now we can compare the radius ρB2 (x) with ρB2 x1 =x2 =0 = ρo and build
the non-dimensional function for the central and satellite wheels z1 /z2 .

ρB2 (x)
κ(x) = (15)
ρo

In geometrical sense, the strength of the tooth working surfaces depends only
on the reduced radius of curvature and the value of function κ(x) must not
be less then 1, taking proper corrections coefficients <x>.
The relation ρ(ξ), well known in literature [8] and illustrated in Fig.5b,
is presented by the formula
!
ξ
ρ(ξ) = ξ · 1 − (16)
l
220 JAN RYŚ

Fig. 5. Engagement of toothed wheels z1 /z2 , a) along the line of action ξ at segment
E1 E2 ⊂ N1 N2 , b) reduced radius of curvature along the line of contact ρ(ξ)

Let us transform the formula (15) to apply it to the teeth of matting wheels
after replacing its values by the parameters of a toothed gear. Consequently
κ(x) can be written thus

l ξB
ρB2 (x) = η(x) · (1 − η(x)) · ; η(x) =
4 l (17)
lo
ρo = ηo (1 − ηo ) ·
4

Replacing,

q
2 2
ξB = ra1 − rb1 − pb ; l = a · sin (αw ) = ao · cos (α) · tg (αw ) (18)

then substituting relations (19) into it

pb 2·π rb1 z1 ra1 z1 + 2 · (1 + x1 )

= cos (α) ; = cos (α) ; =
ao z 1 + z 2 ao z1 + z2 ao z1 + z2
(19)
 THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 221

then we get η(x) with restriction <x>

p
[z1 + 2 · (1 + x1 )]2 − [(z1 cos(α))]2 − 2 · π cos(α)
η(x) =
(z1 + z2 ) · cos(α) · tan(αw/ )
p (20)
[z1 + 2]2 − [(z1 cos(α))]2 − 2 · π cos(α)
ηo =
(z1 + z2 ) · cos(α) · tan(α)
a
cos(αw ) = cos(α)
ao
{[tan(αw/ ) − αw/ ] − tan(α) + α} · (z1 + z2 )
x1 + x2 = c1 =
2 · tan(α)
x1 min ≤ x1 ≤ x1 max ∧ x2 min ≤ x2 ≤ x2 max
Substituting the equations (17), (20) into (15) we can obtain the function
κ(x1 , x2 ) for the central and the satellite wheels z1 /z2 .
1 − η(x)
κ(x) = A(x)
p 1 − ηo (21)
[z1 + 2 · (1 + x1 )]2 − [(z1 cos(α))]2 − 2 · π cos(α)
A(x) = p
[z1 + 2]2 − [(z1 cos(α))]2 − 2 · π cos(α)
In design calculations the stresses of the root of teeth σF (x, z) determine the
fatigue resistance of each toothed wheel; the formula (13) depends on the
form factor of the tooth Y Fα (x, z) .
The Form factor Y Fα (x, z) is determined by ISO [4] in the form of
relations and diagrams referring to cutting tools parameters. The magnitude
of this factor reaches the minimum value of about 1.9 when a standard tool
rack has α =20◦ , hao /m=1.25, and ρ/m=0.2), where ρ – the radius of tools
fillet.
Consequently, we build the non-dimensional function for determining the
fatigue resistance of each toothed wheel
1.9
λ(x) = (22)
Y Fα
At valuables region <x>for each toothed wheel z1 , z2 , z3 we can evaluate
the fatigue strength when λ(x) reaches the maximum value [2], [5].

4. Examples of projects

Case I, Fig.4
222 JAN RYŚ

We take under consideration a planetary gear with the data: z1 =24,

z2 =45, z3 =114, y=1, α =20◦ , m=4 according to Fig. 1 so that some
restrictions concerning the proper number of the teeth z1 ; z2 ; z3 are satisfied.
An analysis of strength needs a diagram λ(x) for each wheel. On the basis
of the ISO standard diagram [4] it is easy to build by parabolic interpolation
functions such as in Fig. 6, which gives us an opportunity to find some
different acceptable solutions. Table 1. contains six propositions: no.1 – a
gear without corrections, no.2 – a gear with corrections P0, no.3,4,5 – a gear
with correction P and the constant value of C = x1 +x2 , and no.6 – a gear
with correction P and the distance of axis a,ao .
According to Table 1, the best solution (no.4) yields κ =1.1403 (Table 2)
which means that the surface strength increases about 6.8%, λ1 changing from
0.69 to 0.81, the fatigue strength of the central wheel increases about 17.3%,
other wheels have proper fatigue strength λ2 =0.75, λ3 =0.81. According
to relations (9) and (10) αw’ =21.475o αw” =21.475◦ and rw2’ = rw2” . The
Resultant dimensions of teeth engagement are presented in Table 3, and the
proof of noninterference of the satellite and the sun wheels is presented in
Table 4.

Fig. 6. Fatigue strength λ(x) for wheels z1 =24, z2 =45, z3 =114

THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 223

Table 1.
x1 + x2 = x2 + x3 = 0 ; C = 0 ; corrections P0
x1 = C − x2 ; x3 = −C − x2 ; C , 0 ; corrections P
No. x3 x2 x1 λ3 λ2 λ1 κ
1 0 0 0 0.87 0.75 0.69 1.00
2 0.12 -0.12 0.12 0.88 0.73 0.73 1.037
3 -0.25 0 0.25 0.83 0.75 0.78 1.1139
4 -0.35 0 0.35 0.82 0.75 0.81 1.1403
5 -0.4 0.1 0.2 0.81 0.78 0.76 1.0933
-0.3567 0.1 0.1567 0.82 0.78 0.75 1.0759
6
a = 139.00 mm ; ao =138 mm
224 JAN RYŚ

Fig. 7. Geometric parameters of designed gears z1 =24, z2 =45, z3 =114

 THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 225

The fundamental geometric parameters of the designed gears are shown

in Fig. 7 and the geometry of the cooperating toothed wheels is demonstrated
in Fig. 8.

Fig. 8. Geometry of cooperating planetary toothed wheels z1 =24, z2 =45, z3 =114

Case II, Fig.4

We take under consideration a planetary gear with the data: z1 =24,
z2 =46, z3 =117, y=1, α =20o , m=4 according to Fig.1 so that some restric-
tions concerning the proper number of the teeth z1 ; z2 ; z3 are satisfied. An
analysis of strength needs a diagram λ(x) for each wheel. On the basis of
the ISO standard [4], a diagram such as in Fig. 9, gives us an opportunity
to find some acceptable solutions. Table 5 contains propositions with only
the correction P possible, as was mentioned before αw’ , αw” and rw2’ ,
rw2” . In this case, it is more convenient to assume a different distance of the
226 JAN RYŚ

axis “a”, taking x2 >0.1 (Fig. 1) and then checking the results λ1 , λ2 , λ3 , κ
the condition of noninterference of the satellite and the sun wheels, and the
fulfillment of inequalities (1) and (2).

Fig. 9. Fatigue strength λ(x) for wheels z1 =24, z2 =46, z3 =117

Table 5.
x1 = C1 − x2 ; x3 = C2 − x2 ; corrections P
No. x3 x2 x1 λ3 λ2 λ1 κ
0.0233 0.1 0.2896 0.88 0.82 0.79 1.1284
1
a = 141.50 mm ; ao12 =140 mm; ao23 =142 mm
-0.1 0.1 0.4257 0.87 0.82 0.83 1.1792
2
a = 142.00 mm; ao12 =140 mm; ao23 =142 mm
-0.3266 0.2 0.4647 0.84 0.84 0.84 1.2032
3
a = 142.50 mm; ao12 =140 mm; ao23 =142 mm

According to Table 5, the best solution (no.3) yields κ =1.2032 that

means the surface strength increases about 9.8%, and all the wheels have the
proper fatigue strength λ1 = λ2 = λ3 =0.84. On the basis of relation (9) and
(10) we obtain αw’ =22.6005◦ αw” =20.5452◦ , and the procedure of computing
the coefficient of corrections is presented in Table 6.
THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 227
228 JAN RYŚ

The resultant dimensions of teeth engagement z1 /z2 i.e. the radii of the
diametric circle, the basic circle, the rolling circle, the addendum and the
dedendum circle, and also the tip clearance c12 i c21 are presented in Table 7.
In a similar way, the resultant dimensions of the teeth engagement z2 /z3 are
calculated additionally to verify the thickness of the teeth in the rolling
circles s2 , s3. The results are presented in Table 8. The collected results
of the dimensions of teeth engagement are presented in Table 9; Fig. 10
illustrates the main geometric parameters of the designed planetary gears.
 THE PROCEDURE OF MODIFICATION COEFFICIENTS IN PLANETARY GEAR TRANSMISSION 229

Fig. 10. Geometric parameters of designed gears z1 =24, z2 =46, z3 =117

5. Conclusion

In this study, we have presented a new design procedure for determining

modification coefficients of the toothed wheels of a planetary gear train with
internal conjunction of teeth. It is possible to obtain a higher load-carrying
capacity, which depends also on the correction coefficients.
We have proposed the procedure for planetary gears with internal en-
gagements, in which the non-dimensional strength function λ(x,z) and κ(x,z)
230 JAN RYŚ

is used. In this way, the new allowable geometrical solution of a planetary

gear can be evaluated.
The described relations gives us the opportunity to compute all geomet-
rical parameters of the cooperating wheels, which can be manufactured on
an industrial scale.
The presented procedure and the projects may be useful for developing
a more effective, optimal computer procedure.

Manuscript received by Editorial Board, March 05, 2012;

final version, May 31, 2012.

REFERENCES

[1] Podstawy Konstrukcji Maszyn, pod redakcją Marka Dietricha, PWN, Warszawa, 1995.
[2] Dziama L., Michniewicz M., Niedzwiedzki A.: Przekładnie zębate. PWN, Warszawa, 1989.
[3] Ochęduszko K.: Koła zębate, t. 1, WNT, Warszawa, 1990.
[4] PN-ISO 6336-1/2/3.
[5] Kasperek T., Ryś J.: Dobór korekcji w przekładni planetarnej o identycznej geometrii
satelitów, Czasopismo Techniczne, z.7 1-M/2010.
[6] Ryś J., Kasperek T.: Geometria przekładni planetarnej z zazębieniem zewnętrznym o upro-
szczonej technologii, Czasopismo Techniczne, z. 1 1-M/2006.
[7] Ryś J., Sendyka B.: Ustalenie obszaru rozwiązywalności II poprawki kół o zarysach ewol-
wentowych, Czasopismo Techniczne, z. 6, 1978.
[8] Ryś J., Skrzyszowski Z.: Podstawy konstrukcji maszyn, t. 2, Wyd. PK, Kraków 2003.
[9] Ryś J., Kasperek T.: Project of planetary gear with the same geometry of a satellite wheel,
The Archive of Mechanical Engineering, vol. LV, 2008, 3, p. 265-273.

Metoda doboru współczynników korekcji w zębatych przekładniach planetarnych

Streszczenie

Celem pracy jest prezentacja procedury obliczeniowej określającej geometrię i wpływ współ-
czynników korekcji na wytrzymałość postaciową i kontaktową powierzchni zębów w planetarnych
przekładniach zębatych z zazębieniem wewnętrznym kół satelitów. Rozważane są przypadki, gdy
zerowe odległości osi koła centralnego i satelitów są równe, lub nie zerowej odległości osi satelitów
i koła słonecznego. Wymiary geometryczne będą opisane na bazie dopuszczalnej korekcji oraz
warunków w odniesieniu do wymagań normy ISO oraz literatury. Procedura obliczeń zaprezen-
towana na przykładach może być zastosowana do dowolnej przekładni planetarnej o innym kine-
matycznym połączeniu kół.