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Degree of Freedom in Gear Trains

The document discusses various types of gear trains, including parallel-axis, compound, and epicyclic (planetary) gear trains, highlighting their angular velocity relationships and degrees of freedom. It provides formulas for determining angular velocities in planetary gear systems and examples of differential gear systems used in applications like vehicles. Additionally, it includes practical examples and solutions to illustrate the concepts of angular velocity in gear systems.

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6 views30 pages

Degree of Freedom in Gear Trains

The document discusses various types of gear trains, including parallel-axis, compound, and epicyclic (planetary) gear trains, highlighting their angular velocity relationships and degrees of freedom. It provides formulas for determining angular velocities in planetary gear systems and examples of differential gear systems used in applications like vehicles. Additionally, it includes practical examples and solutions to illustrate the concepts of angular velocity in gear systems.

Uploaded by

lovelivemaki905
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

EME3017 Kinematics

Gears

Prof. Hyungpil Moon


School of Mechanical Engineering
SungKyunKwan University
Parallel-axis gear trains
• Vp2 = Vp3 →

• Angular velocity,
number of tooth

circumference
An ordinary compound gear train
• The overall angular velocity ratio
Epicyclic(Planetary) gear trains
• Ordinary gear trains
– Each gear rotates w.r.t. a center that is fixed to ground
– One degree of freedom
• Epicyclic gear trains can provide 2 DOF
– Sun/center gear
– Planet/epicyclic gear
– Planet carrier/arm/spider
Schematic
Applications of Planetary Gear
• Differential : two inputs to
produce one output
• Transmission
– Fix ring gear
• Clutch
Determining Angular Velocity of
Planetary Gear(I)
• Planet : rotate about its center + about the sun
• Rotation of the planet with respect to the ground (ω31) (when 2 is fixed to
the ground)

VB = 41r4  31r3
r4
31  41
r3
r2
=(1  )41
r3
N2
=(1  )41
N3
[Link]
Determining the Angular Velocity of the Planetary
Gear(II)
 Rotation of the planet with respect to the arm (ω34)
34 r3  41 (r4  r3 )
34 r3  41 (r4  r3 )
r4  r3
34  41
r3
r4
 [  1]41
r3
r4 r2  r3 N 2  N 3 N 2
   1
r3 r3 N3 N3
N2
34  41
N3
Determining the Angular Velocity of the Planetary
Gear(III)
• Relationship between the two angular velocities
• Velocity 3 is equal to the velocity of 4, plus the velocity
of 3 wrt 4.

31  41  34


N2
= 41  41
N3
N2
= 41 (1  )
N3
Consideration of Rotation of Sun Gear

31  21  41  34


N2 N2
= - 21  41 (1  )
N3 N3
Formula Method(I)
• Consider the kinematic inversion where the arm is fixed
Velocity Original Inversion
Frame(1) 0 0-4=-4
Sun(2) 2 2-4=24
Planet(3) 3 3-4=34
Arm(4) 4 4-4=0

• The inversion is an ordinary gear train !!!


Formula Method(II)
• More general expression
LA L   A Product of the numbers of teeth on driver gears
| || |
FA F   A Product of the numbers of teeth on driven gears
LA  angular velocity of the last gear relative to the arm
FA  angular velocity of the first gear relative to the arm
L  angular velocity of the last gear
F  angular velocity of the first gear
 A  angular velocity of the first arm
Epicyclic Gear Train
34 3  4 N2
 
24 2  4 N3
N2 N2
3   2  (1  )4
N3 N3
Hypocyclic Gear Train

34 3  4 N2
 
24 2  4 N3
N2 N2
3  2  (1  )4
N3 N3
Example 1
LA L   A Product of the numbers of teeth on driver gears
| || |
FA F   A Product of the numbers of teeth on driven gears

• Sun ω2 = 50rad/s CW, arm ω6 = 75rad/s CW


• What is ω51 ?
56 5  6 5  75 N2 N4
  
26 2  6 50  75 N3 N5
Example 2
• If ω21 = 500 rpm ccw,
ω51 = 300 rpm
• What is ω61 ?
Example 2 Solution
56 5  6 300  6 N2 N4
  
26 2  6 500  6 N3 N5

• ω61 = 420 rpm ccw


Example 3
• If ω21 = 500 rpm ccw,
What is DOF?
• What is ω51?
Example 3 Solution
26 2  6 N N
  3 5
56 5  6 N2 N4
26 2  6 N 3 N 7
 
76 7  6 N 2 N 4

• ω51 = -3750 rpm ccw


Differential Gear System
• What is differential gear?
– One input and plural outputs or inverse of that
– Used for systems require safety or robustness
(Transaxle of vehicle, Hoist, etc.)
[Link]
Differential Gear System
• Relationship between planetary gear and differential gear
– What component shows same behavior as ‘arm’ of planetary gear?
Differential Gear System
• Analysis of differential gear system
– Additional bevel gear system located at output part

53  51  31


63  61  31

53 51  31



63 61  31
53 Product of the numbers of teeth on driver gears N6 N 4
 
63 Product of the numbers of teeth on driven gears N 4 N5
51  31 53 N6 N 4
 
61  31 63 N 4 N5
Differential Gear System
• Example 1
Ex1.
• Neither wheel slips

51  31 53 N6 N 4


 
61  31 63 N 4 N5
Differential Gear System
• Example 2

2-27
Ex.2
• The left wheel does not spin
• Driving shaft

51  31 53 N6 N 4


 
61  31 63 N 4 N5
Differential Gear System
• Example 3
Solutions
• Car’s angular velocity

• The velocity of the right wheel axle

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