Kinematics of Machinery (ME-224)

Module-5
By

Sajan Kapil
Assistant Professor
Indian Institute of Technology Guwahati
Guwahati-781039, Assam, India

Phone: 003612582652 Email: [Link]@[Link]

 ME 224 Kinematics of Machinery (2-1-0-6)

Elements of kinematic chain, mechanisms, their inversions, mobility (Kutzhbach criteria) and range
of movements (Grashof's law); Miscellaneous mechanisms: straight line generating mechanism,
intermittent motion mechanism; Displacement, velocity and acceleration analysis of planar
mechanisms by graphical, analytical and computer aided methods; Dimensional synthesis for
motion; function and path generation; Cam profile synthesis and determination of equivalent
mechanisms; Gears (spur, helical, bevel and worm); gear trains: simple, compound and epicyclic
gearing.
Texts:
1. K. J, Waldron and G. L Kinzel, Kinematics, Dynamics and Design of Machinery, 2nd Ed., Wiley
Student Edition, 2004.
2. A. Ghosh and A. K. Mallik, Theory of Mechanisms, and Machines, 3rd Ed., East West Press Pvt
Ltd, 2009
References:
1. J. J Uicker (Jr), G. R Pennock and J. E Shigley, Theory of Machines and Mechanisms, 3rd ed.,
Oxford International Student Edition.
2. S. S. Rattan, Theory of Machines, 3rd Ed., Tata McGraw Hill, 2009.
3. R. L. Norton, Kinematics and Dynamics of Machinery, Tata Mcgraw Hill, 2009.
4. J. S. Rao, R. V. Dukkipati, Mechanism and Machine Theory, 2nd Ed., New Age International,
2008.
5. A. G. Erdman and G. N. Sandor, Mechanism Design, Analysis and Synthesis Volume 1, PHI, Inc.,
1997.
6. T. Bevan, Theory of Machines, CBS Publishers and Distributors, 1984
Lecture-1
 Introduction
Friction Wheel: Application
• The mechanism discussed so far are used primarily as non-uniform-
motion or force transformers. In case in which uniform motion or force
transmission is required, Friction Drives, Circular gears, belt drive, and
chain drives are required.

• In such devices as the input shaft rotates with constant speed the
output shaft will rotate with constant angular speed.

• When low power is to be transmitted, constant-velocity transfer can be

achieved by friction drives.
 Introduction
Friction Wheel: Application
 Introduction
Friction Wheel: Application
 Introduction
Friction Wheel: Application
 Introduction
Friction Wheel: Application

Assume there is no slip at point of contact ‘P’

0 0
𝑉𝑃 2 = 𝑉𝑝 3 + VP2/P3 + 𝜔2 𝑟𝑝2𝑝3

𝑉𝑃 2 = 𝑉𝑝 3

𝜔2 × 𝑟𝑃𝐴 = 𝜔3 × 𝑟𝑃𝐵 Two disk rotates in opposite direction

Considering only magnitude

𝜔2 𝑟3
=
𝜔3 𝑟2
 Introduction
Friction Wheel: Application

Assume there is no slip at point of contact ‘P’

0 0
𝑉𝑃 2 = 𝑉𝑝 3 + VP2/P3 + 𝜔2 𝑟𝑝2𝑝3

𝑉𝑃 2 = 𝑉𝑝 3

𝜔2 × 𝑟𝑃𝐴 = 𝜔3 × 𝑟𝑃𝐵 Two disk rotates in same direction

Considering only magnitude

𝜔2 𝑟3
=
𝜔3 𝑟2
 Introduction
Friction Wheel

A friction wheel can transmit the torque only if the normal force at contact
is sufficient enough to prevent slippage. If large torques are involved
contact stresses will be high.
Advantages:
1- Quite and smooth operation
2- Adaptable to variation in speed

Disadvantages:
1- High wear
2- Need clean environment
3- accelerated failure
4- low efficiency
5- Not suitable in rugged environment of machine
Introduction
Gear: Application
 Introduction
Gear: Classification
Rolling Cylinders Rolling Cones Rolling Hyperboloids

Spur gears Bevel gears Hypoid gears

Spur Gear
• Teeth are parallel to axis
• Least expensive type
• Noisier
• High efficiency (99% / set)
• Can be disengaged
• Backlash can be a problem

At the time of engagement of

the two gears, the contact
extends across the entire
width on a line parallel to the
axis of rotation. This results
in sudden application of the
load, high impact stresses
and excessive noise at high
speeds
Helical Gears
At the beginning of contact only at the point of leading
edge of curved teeth. As the gears rotate, the contact
extends along a diagonal line across the teeth. Thus the
load application is gradual

Teeth not parallel to axis (but curved )

Mating gears have same helix angle but
opposite hands
More expensive than spur
Quieter than others
Axial force component
Stronger tooth section
Harder to disengage
 Herringbone Gears
Develop opposite thrust reactions and thus cancel out the thrust force within the
gear itself. The net axial force that acts on the bearings is zero

Two opposite-hand helicals back to back

High power transmitting capacity

High pitch line velocity Double helical gear

As quiet as helicals

Very expensive to make

 Rack and Pinon

One of the mating gear is of infinite pitch

circle diameter
Rotary to linear motion
Can be spur, helical, or herringbone
Involute becomes a straight line –
trapezoidal teeth
Used in ‘rack and pinion’ steering
Used as a cutter to make circular gears
 Introduction
Gear: Classification
Rolling Cylinders Rolling Cones Rolling Hyperboloids

Spur gears Bevel gears Hypoid gears

 Bevel Gears
Straight bevel: Teeth are straight ,radial to the point of intersection of
the shaft axes and vary in cross section throughout their length.
Gear of same size connecting two shafts at right angles are mitre gears

Spiral bevel: Teeth are inclined at an angle to the face of the bevel.
Gradual load application as in helical gear

Zerol bevel: Curved teeth but with a zero degree spiral angle
Cone apices intersect Low power capacity
Not involute but octoid

18
 Skew Shafts
In parallel and intersecting shafts, a uniform rotary motion is possible by pure rolling
contact, But in case of skew (non-parallel, non intersecting shafts) it is not possible.

If two hyperboloid rotes

respective of their axes, the
motion between them will be a
combination of rolling (normal
to line of contact) and sliding
(Parallel to line of contact).

When the angle b/w shafts exceeds 60 −

65° then then number of teeth are less,
high speed pinion is called as worm
 Skew Shafts
Worm Gear
Non-Throated

Single-Throated

Double-Throated

Worm has single tooth or ‘thread’ Teeth are not involutes

Worm is “helical” with big helix angle Shaft have any angle, normally 90
Can design them to prevent ‘backdriving’ Poor effy (40 - 85%)
High ratios obtainable in single stage
 Skew Shafts
Cross Helix Gear

Limited to light loads.

Proper choice of helical angle can set the angle b/w
shaft to any value
Feed Mechanism on machine tool
 Skew Shafts
Hypoid Gears

• nonparallel and non

intersecting axes
• High torque capacity
• Hypoid pinion is larger
and stronger than the
spiral bevel pinion
• Shaft can pass each other
so that bearings can be
used on both sides of the
gear and the pinion
• Continuous line contact of
the two mating hypoid
gears while in action
Lecture-2
Law of Gearing
 Spur Gear
Law of Gearing

The velocity b/w point 𝑄2 and

𝑄3 will be perpendicular to the
common normal b/w teeth
profiles at point of
momentarily coincident ‘Q’.
(Similar to Cam pair)

According to kennedy-Aronholdt theorem: the instantaneous centre of motion b/w gear

2 and 3 (𝐼23 ) must lie on the line joining 𝐼21 & 𝐼31 . 𝐼23 will also lie on common normal at
point 𝑄. Hence its exact location can be obtained (as shown in Figure, point ‘P’).

𝜔2 × 𝑂2 𝑃 = 𝜔3 × 𝑂3 𝑃 The teeth are rotating in opposite direction

Considering only magnitude In order to keep the constant velocity ratio 𝑅,

the location point 𝑃 should be constant
𝜔2 𝑂3 𝑃 irrespective to the location of momentarily
𝑅= =
𝜔3 𝑂2 𝑃 coincident point 𝑄.
 Spur Gear
Law of Gearing

Friction Wheel-3

Friction Wheel-2
 Spur Gear
Slip Velocity

The velocity 𝑉𝑄2𝑄3 ( 𝑉𝑠 ) is

important because the rate of
wear of the gear teeth
depends on it.

The relative velocity 𝑉𝑄2/𝑄3 (𝑉𝑠 ) can be written as:

0 0
𝑉𝑠 = 1𝑉 = 3𝑉𝑄2/𝑄3 = 3𝑉𝑄2/𝑃2 + 3𝑉𝑃2/𝑃3 + 3𝑉𝑃3/𝑄3
𝑄2 /𝑄3

Law of inversion

𝑉𝑠 = 3𝑉𝑄2/𝑃2 = 3𝜔2 × 𝑟𝑄2𝑃 = 1𝜔

2 − 1𝜔3 × 𝑟𝑄2𝑃
𝑉𝑠 = 𝜔2 − 𝜔3 × 𝑟𝑄𝑃

If 𝑃 = 0 the teeth will roll over each other

Gear Terminology
 Nomenclature

Pitch Cylinders: Pitch cylinders of a pair of gear in mesh are the imaginary friction
cylinder which by pure rolling together, transmit the same motion as pair of gear.

Pitch Circle: It is the circle corresponding to a section of the equivalent pitch

cylinder by a plane normal to the wheel axis.
 Nomenclature

Pitch Diameter: Diameter of pitch cylinder

Pitch Surface: It is surface of pitch cylinder.
Pitch Point: The point of contact of two pitch circles
Pitch line: Line through the centres of rotation of a pair of mating gear is the line of centres
Pinion: It is the smaller and usually the driving gear of a pair of mated gear
 Nomenclature

Circular Pitch (p): It is the distance measured along the circumference of the pitch
circle from a point on one tooth to the corresponding point on the adjacent tooth
𝜋𝑑 𝑑 = pitch circle diameter The angle subtended by the
𝑝=
𝑇 𝑇 = Number of teeth circular pitch at the center of the
pitch is known as pitch angle (𝑦)
It is same of both mating gears
 Nomenclature

Diametral Pitch (P): It is number of teeth per unit length of the pitch circle diameter in
inches

𝑇 This term is not used SI unit

𝑃= 𝑝𝑃 = 𝜋
𝑑
 Nomenclature

Module (m): It is the ratio of the pitch diameter in mm to the number of teeth. The
term is used in SI unit in place diametral pitch.

𝑑
𝑚= 𝑝 = 𝑚𝜋
𝑇
 Nomenclature

Gear Ratio (G): It is the ratio of the number of teeth on the gear to that on the pinion

𝑇
𝐺= 𝑇 = 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑡ℎ𝑒 𝑔𝑒𝑎𝑟
𝑡 𝑡 = 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑝𝑖𝑛𝑜𝑜𝑛
 Nomenclature

Velocity Ratio (VR): The velocity ratio is defined as the ratio of the angular velocity of
the follower to the angular velocity of the driving gear

angular velocity of follower 𝜔2 𝑑1 𝑇1

VR = = = =
angular velocity of driver 𝜔1 𝑑2 𝑇2
 Nomenclature

Addendum Circle: It is the circle passing through the tips of the teeth.
Addendum: it is the radial height of the tooth above the pitch circle. Its standard value is one
module.
Dedendum or Root Circle: It is circle passing through the roots of the teeth.
Dedendum: It is the radial depth of a tooth below the pitch circle. Its standard value is 1.157 × 𝑚
Clearance: Radial difference b/w the addendum and the dedendum of a tooth. Thus, clearance
is 0.157 × 𝑚
 Nomenclature

Full depth of the teeth: Addendum + Dedendum

Working depth of teeth: it is sum of addendums of two teeth
Space width: It is the width of the tooth space along the pitch circle.
Tooth thickness: It is the thickness of the tooth measured along pitch circle.
Backlash: = space width –Tooth thickness
Face width: It is the length of the tooth parallel to the gear axis
 Nomenclature

Top land: It is the surface of the top of the tooth

Bottom Land: The surface of the bottom of the tooth b/w the adjacent fillets
Face: Tooth surface b/w the pitch circle and the top land
Flank tooth: Surface b/w the pitch circle and the bottom land including fillet.
Fillet: It is curved portion of the tooth flank at the root circle
 Nomenclature

Line of Action or Pressure Line: The

force, which the driving tooth, is along a
line from the pitch point to the point of
contact of two teeth. This line is also the
common normal at the point of contact of
the mating gears and is known as the line
of action or pressure line.

Pressure Angle or angle of obliquity

(𝝓): The angle between the pressure line
and the common tangent to the pitch circle
is known as the pressure angle or the
angle of obliquity.
For more power transmission and lesser
pressure on the bearing, the pressure
angle must be kept small. Standard
pressure angles are 20° and 25°. Gears
with 14.5 pressure angle have become
almost obsolete.
 Nomenclature

Path of contact or contact length: The

locus of the point of contact of two mating
teeth from the beginning of engagement to
the end of engagement is knows as the
path of contact or the contact length. It is
CD in the figure. The pitch point P is
always one point on the path of contact. It
can be subdivided as:

Path of Approach: portion of the path of

contact from the beginning of engagement
to the pitch point, i.e. the length CP.

Path of raess: Portion of the path of

contact from the pitch point to the end of
engagement, i.e. the length PD.
 Nomenclature

Arc of Contact: The locus of the point on

the pitch circle from the beginning to the
end of engagement of two mating gears is
known as arc of contact. APB or EPF is
the arc of contact.

Arc of Approach: AP or EP

Arc of Recess: PB or PF

Angle of Action (𝜹): It is the angle turned

by a gear from the beginning of
engagement to the end of engagement of
a pair of teeth, i.e. the angle turned by arc
of contact of respective gear wheels.
Silimarly arc of approach (𝛼) and arc of
recess (𝛽).
𝛿 =𝛼+𝛽
 Nomenclature

Contact Ratio: It is the angle of action

divided by the pitch angle, i.e.

𝛿 𝛼+𝛽
𝐶𝑜𝑛𝑡𝑎𝑐𝑡 𝑟𝑎𝑡𝑖𝑜 = =
𝛾 𝛾

Angle of action is the angle subtended by

arc of contact and the pitch angle is the
angle subtended by the circular pitch at
the center of pitch circle, contact ratio is
also the ratio of the arc of contact to the
circular pitch i.e.

𝑎𝑟𝑐 𝑜𝑓 𝑐𝑜𝑛𝑡𝑎𝑐𝑡
𝐶𝑜𝑛𝑡𝑎𝑐𝑡 𝑟𝑎𝑡𝑖𝑜 =
𝑐𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑝𝑖𝑡𝑐ℎ
 Nomenclature

K1K2 on base circle of both the

gear should be equal.
𝑝1 cos 𝜙1 = 𝑝2 cos 𝜙2
𝑚1 = 𝑚2
And
𝜙1 = 𝜙2
Profile of Gear Teeth
 Spur Gear
Cycloid Profile
Of many shape that are possible for tooth profile, the involute and cycloid are the
most common. Cycloid is the locus of a point on the circumference of a circle when it
rolls on a straight line without slipping. If the circle rolls on the outside of another circle
or inside of another circle gives rise to epicycloid and hypocycloid respectively.

Cycloid epicycloid hypocycloid

 Spur Gear
Cycloid Gear Profile
The profile of a cycloidal tooth consists of two separate curves or double curvature.
This tooth form also satisfies the law of gearing or conjugate action.
Spur Gear
Cycloid Gear Profile
Spur Gear
Cycloid Gear Profile
 Spur Gear
Cycloid Gear Profile

Law of gearing is fulfilled

The contact points, 𝑎1 , 𝑎2 , 𝑎3 … … 𝑃 lie on

generating circle

Path of approach=Arc 𝑎1 𝑎2 𝑎3 𝑃

Arc of approach=Arc 𝑏1 𝑏2 𝑏3 𝑃 =Arc 𝑐1 𝑐2 𝑐3 𝑃

But Arc 𝑎1 𝑎2 𝑎3 𝑃 = 𝑏1 𝑏2 𝑏3 𝑃 =Arc 𝑐1 𝑐2 𝑐3 𝑃

Path of approach = Arc of approach

Pressure angle varies from max to min and then min to max

As the distance b/w the gear center changes the speed of the driven gear would vary.
Spur Gear
Involute Profile
 Spur Gear
Involute Profile
Point of contact lie on the line
of action which is common
tangent to both the base
circle.

The contact is made when tip

of a tooth of the driven wheel
touches the flank of a tooth
of the driving wheel and the
contact is broken when the
tip of the driving wheel
touches the flank of the
driven wheel.

If the direction of rotation is

reversed the path of contact
reversed
Initial and last contact occur addendum circle of driver and driven gear intersect the line
of action respectively.
 Spur Gear
Involute Profile

< 𝐸𝐴𝑃 = 𝜙

𝐹
𝐴𝐸 = 𝐴𝑃 cos 𝜙
𝐵𝐹 = 𝐵𝑃 cos 𝜙
Similarly:
[base circle radius =Pitch
circle diameter X 𝑐𝑜𝑠𝜙]

𝐵𝑃 𝐵𝐹
𝑉𝑅 = = = constant
𝐴𝑃 𝐴𝐸
𝐸
Spur Gear
Involute Profile
 Spur Gear
Cycloid Vs Involute Profile

Involute is used in almost all the cases except in watches and clocks.
 Spur Gear
Interchangeable Gears
The gears are interchangeable if they have:
• Same module (m)
• Same pressure angle
• Same addendums and dedendums
• Same thickness
Lecture-3
 Involute-Spur Gear
Path of Contact

The pinon 1 is driver and is rotting clockwise. The wheel 2 is driven in the CCW
direction. EF is their common tangent to the base circles.

Contact of the two teeth start where the addendum circle of the wheel meets the
line of action that is at ‘C’ and is broken when addendum of pinon meets the line of
action. Hence CD is path of contact.
 Involute-Spur Gear
Path of Contact

Let 𝑟 = 𝑝𝑖𝑡𝑐ℎ 𝑐𝑖𝑟𝑐𝑙𝑒 𝑟𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑝𝑖𝑛𝑜𝑛, 𝑅 = 𝑝𝑖𝑡𝑐ℎ 𝑐𝑖𝑟𝑐𝑙𝑒 𝑟𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑤ℎ𝑒𝑒𝑙, 𝑟𝑎 =

𝑎𝑑𝑑𝑒𝑛𝑑𝑢𝑚 𝑐𝑖𝑟𝑐𝑙𝑒 𝑟𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑝𝑖𝑛𝑜𝑛, 𝑅𝑎 = 𝑎𝑑𝑑𝑒𝑛𝑑𝑢𝑚 𝑐𝑖𝑟𝑐𝑙𝑒 𝑟𝑎𝑑𝑖𝑢𝑠 𝑜𝑓 𝑤ℎ𝑒𝑒𝑙

Path of contact =Path of Approach + Path of recess

𝐶𝐷 = 𝐶𝑃 + 𝑃𝐷 = (𝐶𝐹 − 𝑃𝐹) + (𝐷𝐸 − 𝑃𝐸)

𝐶𝐷 = 𝐶𝑃 + 𝑃𝐷 = 𝑅𝑎2 − 𝑅 cos 𝜙 − 𝑅 sin 𝜙 + 𝑟𝑎2 − 𝑟 cos 𝜙 − 𝑟 sin 𝜙

 Involute-Spur Gear
Arc of Contact

Arc of contact is the distance

travelled by a point on either
pitch circle of the two wheels
during the period of contact of a
pair of teeth.

At the beginning of engagement,

the driving involute is shown as
GH; when the point of contact is
at P, it is shown as JK and when
at the end of engagement it is
DL. The arc of approach is PP’
and arc of recess is PP’’
 Involute-Spur Gear
Arc of Contact

Let the time to traverse the arc

of approach is 𝑡𝑎 . Then

𝑃’𝑃
= 𝑡𝑎𝑛𝑔𝑒𝑛𝑡𝑖𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑃’ × 𝑡𝑎
𝑃′ 𝑃 = 𝜔𝑎 𝑟 × 𝑡𝑎
′
𝜔𝑎 𝑟 cos 𝜙
𝑃𝑃= × 𝑡𝑎
cos 𝜙
𝜔𝑎 𝑟𝑏
= × 𝑡𝑎
cos 𝜙
𝑇𝑎𝑛𝑔. 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝐻 × 𝑡𝑎
=
cos 𝜙
𝐴𝑟𝑐 𝐻𝐾
=
cos 𝜙
𝐴𝑟𝑐 𝐹𝐾 − 𝐴𝑟𝑐 𝐹𝐻
=
cos 𝜙
𝐹𝑃 − 𝐹𝐶 𝐶𝑃
= =
cos 𝜙 cos 𝜙
 Involute-Spur Gear
Arc of Contact

Similarly the arc of recess:

′′
𝑃𝐷
𝑃 𝑃=
cos 𝜙

Hence the arc of contact:

𝐶𝑃 + 𝑃𝐷 𝐶𝐷
𝑃′′ 𝑃′ = =
cos 𝜙 cos 𝜙

𝑃𝑎𝑡ℎ 𝑜𝑓 𝐶𝑜𝑛𝑡𝑎𝑐𝑡
𝐴𝑟𝑐 𝑜𝑓 𝐶𝑜𝑛𝑡𝑎𝑐𝑡 =
cos 𝜙
 Involute-Spur Gear
Number of Teeth in Contact/ Contact Ratio
The arc of contact is the length of the pitch circle traversed by a point on it during
the mating of a pair of teeth. Thus all the teeth lying in between the arc of contact
will be meshing with the teeth on other wheel.

Hence the number of teeth in contact,

𝑎𝑟𝑐 𝑜𝑓 𝑐𝑜𝑛𝑡𝑎𝑐𝑡 𝐶𝐷 1
𝑛= = ×
𝐶𝑖𝑟𝑐𝑢𝑙𝑎𝑟 𝑝𝑖𝑡𝑐ℎ cos 𝜙 𝑝

The ratio of arc of contact to the circular pitch is also the contact ratio, the number
of teeth is also expressed in terms of contact ratio.

n should be always greater then 1.

If n is 1.6 that means 1 pair is always in contact whereas two pairs of teeth are in
contact for 60% of the time.
 Spur Gear
Interference in Involute Gears
Path of contact depends upon the
addendum circle.

If the number of teeth are fixed

then to have more teeth in contact
(>1) addendum circle radius has to
be increased.

But can increase up to a certain

limit (BE).

If it is beyond that then there will

be interference.
 Spur Gear
Interference in Involute Gears
𝐵𝐸 2 = 𝐵𝐹 2 + 𝐹𝐸 2
= 𝐵𝐹 2 + 𝐹𝑃2 + 𝑃𝐸 2

𝑟 𝑟
𝐵𝐸 = 𝑅 1 + + 2 sin2 𝜙
𝑅 𝑅

𝑟 𝑟
𝑎𝑤𝑚𝑎𝑥 =𝑅 1+ + 2 sin2 𝜙 − 𝑅
𝑅 𝑅

𝑟 𝑟
𝑎𝑤𝑚𝑎𝑥 = 𝑅 1+ + 2 sin2 𝜙 − 1
𝑅 𝑅

𝑚𝑇 𝑚𝑡 𝑇
𝑅= ,𝑟 = 𝑎𝑛𝑑 𝐺 =
2 2 𝑡
 Spur Gear
Interference in Involute Gears

𝑚𝑇 1 1
𝑎𝑤𝑚𝑎𝑥 = 1+ + 2 sin2 𝜙 − 1
2 𝐺 𝐺

𝑎𝑤𝑚𝑎𝑥 𝑇 1 1
= 1+ + 2 sin2 𝜙 − 1
𝑚 2 𝐺 𝐺

𝐿𝑖𝑚𝑖𝑡𝑖𝑛𝑔 𝑣𝑎𝑙𝑢𝑒

𝑎𝑤 𝑇 1 1
≤ 1+ + 2 sin2 𝜙 − 1
𝑚 2 𝐺 𝐺
2𝑎𝑤
𝑇≥ 𝑚
1 1
1 + 𝐺 𝐺 + 2 sin2 𝜙 − 1
 Spur Gear
Interference in Involute Gears

Check the minimum number of teeth for a standard gear

Undercutting
 Involute-Spur Gear
Thickness of Tooth
It is important to know the tooth thickness
to analyse the stress and deflection of
gear teeth.

𝐴𝐵 = 𝐵𝑇 = 𝑟𝑏 tan 𝜉

𝐴𝐵
𝜒= − 𝜉 = tan 𝜉 − 𝜉
𝑟𝑏

𝜒 is the involute function of 𝜉, written

as:

𝑖𝑛𝑣 𝜉 = tan 𝜉 − 𝜉
 Involute-Spur Gear
Thickness of Tooth

𝑡𝑝
= 𝛼 − 𝑖𝑛𝑣(𝜙)
2𝑟𝑝

At general location:

𝑡
= 𝛼 − 𝑖𝑛𝑣(𝛽)
2𝑟

Eliminate 𝛼

𝑡 𝑡𝑝
= + 𝑖𝑛𝑣 𝜙 − 𝑖𝑛𝑣(𝛽)
2𝑟 2𝑟𝑝 Min thickness of tooth
𝑟𝑏 𝑟𝑝 cos 𝜙 𝑡𝑝
where cos 𝛽 = = 2𝑟 + 𝑖𝑛𝑣 𝜙 − 𝑖𝑛𝑣(𝛽) = 0
𝑟 𝑟 2𝑟𝑝

Solve it for 𝛽 and obtain the maximum value of addendum circle radius
 Involute-Spur Gear
Thickness of Gear tooth: Example
Find the thickness at the addendum and base circle of a tooth of module 1/4 on a
gear with 30 teeth with a 20° pressure angle, standard dimensions and with the tooth
thickness at the pitch circle equal to half the circular pitch.

𝑡𝑎 = 0.184 mm
𝑡𝑏 = 0.474 mm
Lecture-3
Helical Gear
Nomenclature
Helical Gear
Nomenclature
 Helical Gear
Nomenclature

Cross helical gears

 Helical Gear
Nomenclature
In helical gears the teeth are inclined to the axis of a
gear. They can be right-handed or left-handed.
Depending upon the direction in which the helix slopes
away from the viewer when a gear is viewed parallel to
the axis of the gear.
 Helical Gear
Nomenclature

In the shown Figure the

helix angle of the two gear
are same but one is LH
and another is RH.
𝜓1 = 𝜓2

The axes of the two gears

will be parallel in this case.

Top view Side view

 Helical Gear
Nomenclature

If the helix angle of one gear is reduced by a

few degrees. Then

𝜓1 − 𝜓2 = 𝜃

To have the tangential contact between the

teeth, one gear should rotate by 𝜃. Hence the
axes of the gear will not be parallel.

In this case two skew shafts joined with

crossed-helical or spiral gears.

If 𝜃 = 0 then axes will be parallel as

discussed before.

Top view
 Helical Gear
Nomenclature

If 𝜓2 = 0 i.e., the helix angle of the gear 2 is

made zero or gear 2 is spur gear, then

𝜓1 = 𝜃

The angle between the two shafts of the gears

will be equal to helix angle of the gear 1.

Top view
 Helical Gear
Nomenclature

If 𝜓2 = −𝑣𝑒 i.e., the helix angle of the

gear 2 is of same hand as gear 1,
then

𝜃 = 𝜓1 − (−𝜓2 )

𝜃 = 𝜓1 + 𝜓2

Top view
 Helical Gear
Nomenclature

If the helix angle too high the gear will

look as shown in Figure. This will give
an appearance of a spiral.
 Helical Gear
Nomenclature

The pitch line velocity of gear 1 and 2

are 𝑣1 and 𝑣2 as the direction shown.
The magnitude and direction of 𝑣12
represent the sliding velocity of teeth
on gear 1 relative the teeth on gear 2
parallel to 𝑡 −−− −𝑡, the tangent to
the teeth in contact. It increases with
𝜃 and not zero even at pitch point.

The normal has velocity perpendicular

Top view
to 𝑡 −− −𝑡 has to be equal.
 Helical Gear
Nomenclature

For helical gear joining parallel shafts,

𝑣1 = 𝑣2 in same direction, hence
sliding velocity will be zero.

Top view
 Helical Gear
Nomenclature
Helix angle (𝝍): It is the angle at which the
teeth are inclined to the axis of a gear. It is
also known as spiral angle.

Circular pitch (p): It is the distance

between the corresponding points on the
adjacent teeth measured on the pitch circle.
It is also known as transverse circular pitch.

Normal Pitch ( 𝒑𝒏 ): It is the shortest

distance measured along the normal to the
helix between corresponding points on the
adjacent teeth. The normal circular pitch of
the two mating gears should be same.

𝑝𝑛 = 𝑝 cos 𝜓 (𝑝 = 𝜋𝑚)
𝑝𝑛 = 𝜋𝑚𝑛
𝑚𝑛 = 𝑚 cos 𝜓
 Helical Gear
Nomenclature
Velocity Ratio:

𝑣𝑛 = 𝑣1 cos 𝜓1 = 𝑣2 cos 𝜓2

𝑣2 cos 𝜓1
=
𝑣1 cos 𝜓2

angular velocity of follower 𝜔2

VR = =
angular velocity of driver 𝜔1

𝑣2
𝑟 𝑑1 𝑣2 𝑑1 cos 𝜓1 𝑚1 𝑇1 cos 𝜓1
VR = 𝑣2 = = =
1 𝑑2 𝑣1 𝑑2 cos 𝜓2 𝑚2 𝑇2 cos 𝜓2
𝑟1
𝑚𝑛 = 𝑚1 cos 𝜓1 = 𝑚2 cos 𝜓2

𝑣2
𝑟 𝑑1 𝑣2 𝑑1 cos 𝜓1 𝑇1
VR = 𝑣2 = = =
1 𝑑2 𝑣1 𝑑2 cos 𝜓2 𝑇2
𝑟1
 Helical Gear
Nomenclature
Center Distance

Let C be the center distance b/w the two skew shafts

1 1
𝐶 = 𝑟1 + 𝑟2 = 𝑑1 + 𝑑2 = 𝑚1 𝑇1 + 𝑚2 𝑇2
2 2
1 𝑚𝑛 𝑚𝑛 𝑚𝑛 𝑇1 𝑇2
= 𝑇1 + 𝑇2 = +
2 cos 𝜓1 cos 𝜓2 2 cos 𝜓1 cos 𝜓2

In case of parallel shafts

𝜓1 = 𝜓2 = 𝜓
 Helical Gear
Efficiency

𝐹𝑡 2 × 𝑣2
𝜂=
𝐹𝑡 1 × 𝑣1
 Helical Gear
Nomenclature
Two spiral gears have a normal module of 12mm and angle b/w the shaft axes driver
and follower is 60°. The driver has 16 teeth and a helix angle of 25°. If the velocity
ratio is ½ and the driver and the follower both are left-handed find the center distance.
Lecture-4
 Gear Train
Introduction
• Simple Gear Train
• Compound Gear Train
• Reverted Gear Train
• Planetary or Epicyclic Gear Train
• In simple gear trains, each shaft supports one gear.

• In a compound gear train each shaft supports two or more

gear wheels except the first and the last.

• In a reverted gear train, the driving and driven are co-axial or

coincide.

• In a planetary or Epicylic gear the axis of the gear also

rotates. Use to transmit high velocity ratio.
 Gear Train
Simple Train

[Link]
 Gear Train
Compound Train

[Link]
 Gear Train
Reverted Train

[Link]
 Gear Train
Reverted Train

[Link]
 Gear Train
Simple Gear Train

T=number of Teeth
N=speed of gear in rpm

𝜔 = 2𝜋𝑁
𝑁2 𝑇1 𝑁3 𝑇2 𝑁4 𝑇3 𝑁5 𝑇4
= = = =
𝑁1 𝑇2 𝑁2 𝑇3 𝑁3 𝑇4 𝑁4 𝑇5
𝑁2 𝑁3 𝑁4 𝑁5 𝑇1 𝑇2 𝑇3 𝑇4
× × × = × × ×
𝑁1 𝑁2 𝑁3 𝑁4 𝑇2 𝑇3 𝑇4 𝑇5
 Gear Train
Simple Gear Train

𝑁5 𝑇1
=
𝑁1 𝑇5

𝑁5 𝑇1 Number of teeth on driving gear 1

Train value = = = =
𝑁1 𝑇5 Number of teeth on driven gear Speed ratio

As intermediate gears have no effect on the speed ratio and therefore, they are
known as idler
 Gear Train
Compound Gear Train
Find out the Train value in this case ?

When a series of gears are connected in such a way that two or more gears rotates
about an axis with the same angular velocity, it is known as compound gear train.

𝑁2 𝑇1 𝑁4 𝑇3 𝑁6 𝑇5
= , = , = ,
𝑁1 𝑇2 𝑁3 𝑇4 𝑁5 𝑇6
𝑁2 𝑁4 𝑁6 𝑇1 𝑇3 𝑇5
× × = × ×
𝑁1 𝑁3 𝑁5 𝑇2 𝑇4 𝑇6
 Gear Train
Compound Gear Train

𝑁6 𝑇1 𝑇3 𝑇5
𝑁2 = 𝑁3 , 𝑁4 = 𝑁5 , = × ×
𝑁1 𝑇2 𝑇4 𝑇6

Product of number of teeth on driving gear

Train value =
Product of number of teeth on driven gear
 Gear Train
Compound Gear Train: Example

𝑁𝐴 = 800 rpm 𝑁𝐹 =?

𝑁𝐹 = 57.1
 Gear Train
Reverted Gear Train

How can you transfer the motion b/w 1 and 4

 Gear Train
Reverted Gear Train

If the axes of the first and last wheel of a compound gear

coincide, it is called a reverted gear train. Such an arrangement
is used in clocks.
 Gear Train
Reverted Gear Train

𝑁4 𝑇1 𝑇3
= ×
𝑁1 𝑇2 𝑇4
𝑁4 Product of number of teeth on driving gear
Train value = =
𝑁1 Product of number of teeth on driven gear
 Gear Train
Reverted Gear Train: Example
A reverted gear train shown is used to provide a speed ratio of
10. The module of gear 1 and 2 is 3.2mm and of gears 3 and 4
is 2mm. Determine suitable number of teeth for each gear. No
gear is to have less than 20 teeth. The centre distance
between the shafts is 160mm.
𝑇
Assume: 𝑇2 = 2.5
1

Hint: 𝑟1 + 𝑟2 = 𝑟3 + 𝑟4

𝑇1 = 28.57, T3 = 32, T2 = 72, T4 = 128,

Lecture-5
 Gear Train
Epicylic Gear Train
A gear train having a relative motion of axes is called a
planetary or an epicyclic gear

If the arm ‘a’ is fixed then the wheel constitute a simple

train.

If wheel S is fixed then the arm ‘a’ will rotate about the
axis of S, the wheel P would also move around S. P is
known as epicyclic wheel.

It is also possible that the wheel S is annular and wheel

P rolls inside it. In that case P should be called as
hypocycloid. However it is still called as epicyclic only.

Large speed reductions are possible with epicyclic

gears and if the wheel is annular, a more compact unit
could be obtained.
 Gear Train
Epicylic Gear Train
Relative Velocity Method:

Angular velocity of S
= angular Velocity of S w. r. t. ′a′ + angular velocity of a

𝜔𝑠 = 𝜔𝑠𝑎 + 𝜔𝑎

𝑁𝑠 = 𝑁𝑠𝑎 + 𝑁𝑎

𝑁𝑃 = −𝑁𝑃𝑎 + 𝑁𝑎

𝑁𝑃𝑎 = 𝑁𝑎 − 𝑁𝑃

𝑁𝑠𝑎 = 𝑁𝑠 − 𝑁𝑎

𝑁𝑠𝑎 𝑁𝑠 − 𝑁𝑎 𝑇𝑝
= =
𝑁𝑃𝑎 𝑁𝑃 − 𝑁𝑎 𝑇𝑎
 Gear Train
Epicylic Gear Train: Analysis
Turn S trough x revolutions in the clockwise direction.
Assuming clockwise motion of a wheel as positive and
counter clockwise as negative

Revolution made by 𝑎 = 0
Revolution made by 𝑆 = 𝑥
𝑇𝑠
Revolution made by 𝑃=− 𝑇𝑝
𝑥

Now, if the mechanism is locked together and turned

through a number of revolutions, the relative motion
b/w a, S and P will not alter. Let the locked system be
turned thorough ‘y’ revolutions in the clockwise
direction. Then

Revolution made by 𝑎 =y
Revolution made by 𝑆 =𝑦+𝑥
𝑇𝑠
Revolution made by 𝑃=𝑦− 𝑥
𝑇𝑝
 Gear Train
Epicylic Gear Train: Analysis

Lock the arm and assume the other wheels free to rotate.

Turn any convenient gear through one revolution in the clockwise direction and
record the number of revolution made by each of the other wheels.

Multiply all the above recordings by x and write the same in the second row. This is
equivalent to the statement that the chosen wheel is given ‘x’ revolution in the
clockwise direction keeping the arm fixed

Add ‘y’ to all the quantities in the second row and make the recording in the row.
This amount to the fact that by locking the whole system, it is turned ‘y’ revolutions
in the CW direction. Thus, the arm makes ‘y’ revolutions, the chosen wheel (y+x)
revolution and so on.

Apply the given condition and find the values of ‘x’ and ‘y’. Having kwon ‘x’ and ‘y’,
the revolution made by any of the wheel can be known.
 Gear Train
Epicylic Gear Train: Analysis

Line Action Rev of a Rev of S Rev of P

𝑇𝑠
−
1. 𝑎 𝑓𝑖𝑥𝑒𝑑, 𝑆 + 1 𝑟𝑒𝑣 0 1 𝑇𝑝

𝑇𝑠
− 𝑥
2. 𝑎 𝑓𝑖𝑥𝑒𝑑, 𝑆 + 𝑥 𝑟𝑒𝑣 0 𝑥 𝑇𝑝

𝑇𝑠
3. 𝐴𝑑𝑑 𝑦 𝑦 𝑦+𝑥 𝑦− 𝑥
𝑇𝑝

Note that the number of revolution of the wheel P given in the third row of the table is the
number of revolutions in space or relative to the fixed axis of S and not about own axis.
 Gear Train
Epicylic Gear Train: Analysis

Rev of P about its own axis = total rev about axis of arm – rev of the arm

𝑇 𝑇
Rev of P about its own axis = 𝑦 − 𝑇𝑠 𝑥 − 𝑦 = − 𝑇𝑠 𝑥
𝑝 𝑝
 Gear Train
Epicylic Gear Train: Example 1
An epicyclic gear train consists of an arm and two gears A and B having 30 and 40
teeth respectively. The arm about the centre of the gear A at a speed of 80 rpm
CCW. Determine the speed of the gear B if (i) the gear A is fixed and (ii) the gear A
revolves at 240 rpm CW instead of being fixed.
𝐴𝑠𝑠𝑢𝑚𝑒 𝐶𝐶𝑊 + 𝑣𝑒
Line Action Rev of a Rev of A Rev of B
30
1. 𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 + 1 𝑟𝑒𝑣 0 1 −
40
3
2. 𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 + 𝑥 𝑟𝑒𝑣 0 𝑥 − 𝑥
4
3
3. 𝐴𝑑𝑑 𝑦 𝑦 𝑦+𝑥 𝑦− 𝑥
4
𝑦+𝑥 =0 𝑦 + 𝑥 = −240
𝑦 = 80 𝑦 = 80
𝑆𝑜𝑙𝑣𝑒 𝑢𝑠𝑖𝑛𝑔
𝑥 = −80 𝑥 = −320
𝑟𝑒𝑙𝑣 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑚𝑒𝑡ℎ𝑜𝑑
𝑅𝑒𝑣 𝑜𝑓 𝐵 = 140 𝑅𝑒𝑣 𝑜𝑓 𝐵 = 320
 Gear Train
Epicylic Gear Train: Example 2
In the shown gear train B and C constitute a compound gear: the number of teeth
are shown along each wheel. Determine the speed and the direction of rotation of
wheels A and E if the arm revolve at 210 rpm CW and gear D is fixed.

𝐴𝑠𝑠𝑢𝑚𝑒 𝐶𝑊 + 𝑣𝑒

𝐴𝑛𝑠: 350 𝑟𝑝𝑚 𝐶𝑊

 Gear Train
Epicylic Gear Train: Example 3

In the epicyclic gear train shown in Fig., wheel A

and B constitute a compound gear and internal
wheels C and D rotate independently about the
axis O. The wheels E and F rotate on the pins
fixed to the arm a. All the wheel are of the same
module. The number of teeth on the wheels are:

𝑇𝐴 = 52, 𝑇𝐵 = 56, 𝑇𝐸 = 𝑇𝐹 = 36

Determine the speed of C if:

(i) The wheel D fixed and arm a rotates at 200

rpm clockwise.
(ii) The wheel D rotates at 200 rpm CCW and
the arm rotates at 20 rpm CW.
 Gear Train
Epicylic Gear Train: Example

𝑇𝐴 = 52, 𝑇𝐵 = 56, 𝑇𝐸 = 𝑇𝐹 = 36

𝑇𝐵
𝑇𝐷 = 2 + 𝑇𝐸 = 128
2
𝑇𝐴
𝑇𝐶 = 2 + 𝑇𝐹 = 124
2

Action a A/B E F C D
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 56 52 52 36 56 36
0 1 − − − × − ×
+ 1 𝑟𝑒𝑣 36 36 36 𝑇𝐶 36 𝑇𝐷
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴
+ 𝑥 𝑟𝑒𝑣

𝐴𝑑𝑑 𝑦
 Gear Train
Epicylic Gear Train: Example

𝑇𝐴 = 52, 𝑇𝐵 = 56, 𝑇𝐸 = 𝑇𝐹 = 36

𝑇𝐵
𝑇𝐷 = 2 + 𝑇𝐸 = 128
2
𝑇𝐴
𝑇𝐶 = 2 + 𝑇𝐹 = 124
2

Action a A/B E F C D
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 56 52 52 36 56 36
0 1 − − − × − ×
+ 1 𝑟𝑒𝑣 36 36 36 124 36 128
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 56 52 52 36 56 36
0 𝑥 − 𝑥 − 𝑥 − × 𝑥 − × 𝑥
+ 𝑥 𝑟𝑒𝑣 36 36 36 124 36 128
56 52 52 36 56 36
𝐴𝑑𝑑 𝑦 𝑦 𝑥+𝑦 𝑦− 𝑥 𝑦− 𝑥 𝑦− × 𝑥 𝑦− × 𝑥
36 36 36 124 36 128
Lecture-5
 Gear Train
Epicylic Gear Train: Sun and Planet Gear

When an annular wheel is added to the epicyclic

gear train is referred as sun and planet gear.

Wheel P and S are generally called as sun and

planet respectively.

S, A and a are free to rotate independently to

each other.

If A is fixed then the S will be driving member

If S is fixed A will be the driving member.

 Gear Train
Epicylic Gear Train: Sun and Planet Gear

𝑥 + 𝑦 = 𝑁𝑠

𝑇𝑆
𝑦 − 𝑥 = 𝑁𝐴
𝑇𝑃

𝑁𝑆 − 𝑁𝐴 𝑁𝑆 𝑇𝑆 + 𝑁𝐴 𝑇𝐴
𝑥= 𝑇 𝑦=
𝑇𝐴 + 𝑇𝑆 𝐴 𝑇𝐴 + 𝑇𝑆

Action a S P A
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 𝑇𝑆 𝑇𝑆 𝑇𝑃 𝑇𝑆
0 1 − − × =−
+ 1 𝑟𝑒𝑣 𝑇𝑃 𝑇𝑃 𝑇𝐴 𝑇𝐴
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 𝑇𝑆 𝑇𝑆
0 𝑥 − 𝑥 − 𝑥
+ 𝑥 𝑟𝑒𝑣 𝑇𝑃 𝑇𝐴
𝑇𝑆 𝑇𝑆
𝐴𝑑𝑑 𝑦 𝑦 𝑥+𝑦 𝑦− 𝑥 𝑦− 𝑥
𝑇𝑃 𝑇𝐴
 Gear Train
Epicylic Gear Train: Sun and Planet Gear
If 𝑁𝑠 = 0
𝑁𝐴 𝑇𝐴 𝑁𝑎 1
𝑁𝑎 = =
𝑇𝑆 + 𝑇𝐴 𝑁𝐴 𝑇𝑆
𝑇𝐴 + 1
If 𝑁𝐴 = 0
𝑁𝑆 𝑇𝑆 𝑁𝑎 𝑇𝑆 /𝑇𝐴
𝑁𝑎 = =
𝑇𝑆 + 𝑇𝐴 𝑁𝑆 𝑇𝑆
𝑇𝐴 + 1

Action a S P A
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 𝑇𝑆 𝑇𝑆 𝑇𝑃 𝑇𝑆
0 1 − − × =−
+ 1 𝑟𝑒𝑣 𝑇𝑃 𝑇𝑃 𝑇𝐴 𝑇𝐴
𝑎 𝑓𝑖𝑥𝑒𝑑, 𝐴 𝑇𝑆 𝑇𝑆
0 𝑥 − 𝑥 − 𝑥
+ 𝑥 𝑟𝑒𝑣 𝑇𝑃 𝑇𝐴
𝑇𝑆 𝑇𝑆
𝐴𝑑𝑑 𝑦 𝑦 𝑥+𝑦 𝑦− 𝑥 𝑦− 𝑥
𝑇𝑃 𝑇𝐴
 Gear Train
Epicylic Gear Train: Sun and Planet Gear
If 𝑁𝑠 = 0
𝑁𝑎 1
=
𝑁𝐴 𝑇𝑆
𝑇𝐴 + 1

If 𝑁𝐴 = 0

𝑁𝑎 𝑇𝑆 /𝑇𝐴
=
𝑁𝑆 𝑇𝑆
𝑇𝐴 + 1
 Gear Train
Epicylic Gear Train: Compound Epicycic Gear
 Gear Train
Epicylic Gear Train: Automotive Transmission Gear Train
 Gear Train
Epicylic Gear Train: Automotive Transmission Gear Train

[Link]
 Gear Train
Epicylic Gear Train: Automotive Transmission Gear Train

[Link]
 Gear Train
Epicylic Gear Train: Automotive Transmission Gear Train

First gear: A-B G-H

Second Gear: A-B E-F
Third Gear: A-B C-D
Top Gear: A-D by Dog clutch
 Gear Train
Epicylic Gear Train: Automotive Transmission Gear Train: Ex
A four-speed sliding gear box of an automobile is to be designed to give speed ratio
of 4, 2.5, 1.5 and 1 approximately for the first, second, third and top gear
respectively. The input and output shafts have the same alignment. The central
distance b/w them and the lay shaft is 90 mm. Teeth have a module of 4 mm. No
wheel has less than 15 teeth. Calculate suitable number of teeth on each wheel and
find actual speed ratio attained.
 Gear Train
Epicylic Gear Train: Pre-selective Gear Train
 Gear Train
Read
Gear Terminology for Worm and bevel Gear.

Equivalent Number of teeth for Helical Gear.

Bevel Epicyclic Gear

Centrodes
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Kinematics of Machinery

Design motion of a machine

MATLAB

SOLIDWORKS

ADMAS

INKSCAPE

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