CHAPTER 6: Gears: Kinematic
Analysis and Selection
6 .1 Introduction
6.2 Types of Gears and Spur Gear Terminology
6.3 Involute Tooth Profiles
6.4 Standard Gears and Relationships of Gears
in Mesh
This slide is based the this course’s textbook:
“Myszka D. H., [2012], Machines and mechanisms: Applied kinematic analysis,
4e., Pearson”
11/29/2024 404012 - Kinematics and design of machinery 1
CHAPTER 6: Gears: Kinematic
Analysis and Selection
6.5 Spur Gear Kinematics
6.6 Spur Gear Selection
6.7 Rack and Pinion Kinematics
6.8 Special Gear Kinematics
6.9 Gear Trains
11/29/2024 404012 - Kinematics and design of machinery 2
6.1. Introduction
• Gears are an extremely common component
used in many machines.
• In general, the function of a gear is to
transmit motion from one rotating shaft to
another
11/29/2024 404012 - Kinematics and design of machinery 3
6.1. Introduction
11/29/2024 404012 - Kinematics and design of machinery 4
6.1. Introduction
11/29/2024 404012 - Kinematics and design of machinery 5
6.1. Introduction
11/29/2024 404012 - Kinematics and design of machinery 6
6.2. Types of Gears and
Spur Gear Terminology
Pinion
gear
11/29/2024 404012 - Kinematics and design of machinery 7
6.2. Types of Gears and
Spur Gear Terminology
11/29/2024 404012 - Kinematics and design of machinery 8
6.2. Types of Gears and
Spur Gear Terminology
11/29/2024 404012 - Kinematics and design of machinery 9
6.2. Types of Gears and
Spur Gear Terminology
11/29/2024 404012 - Kinematics and design of machinery 10
6.2. Types of Gears and
Spur Gear Terminology
11/29/2024 404012 - Kinematics and design of machinery 11
6.2. Types of Gears and
Spur Gear Terminology
11/29/2024 404012 - Kinematics and design of machinery 12
6.2. Types of Gears and
Spur Gear Terminology
11/29/2024 404012 - Kinematics and design of machinery 13
6.2. Types of Gears and
Spur Gear Terminology
Rang/Inch
Module: m
(d: mm)
11/29/2024 404012 - Kinematics and design of machinery 14
6.2. Types of Gears and
Spur Gear Terminology
Pressure angle
Although gears can be manufactured in a wide range of pressure angles, most
gears are standardized at 20° and 25°. Gears with 14 1Ú2° pressure angles were
widely used but are now considered obsolete.
11/29/2024 404012 - Kinematics and design of machinery 15
6.3. Involute Tooth Profiles
Base circle diameter:
11/29/2024 404012 - Kinematics and design of machinery 16
6.4. Standard Gears and
Relationships of Gears in Mesh
As stated, any two involute gears with the same diametral
pitch and pressure angle will mate.
Therefore, gear teeth have been standardized based on
the diametral pitch and pressure angle.
11/29/2024 404012 - Kinematics and design of machinery 17
6.4. Standard Gears and
Relationships of Gears in Mesh
EXAMPLE
A 20° full-depth, involute spur gear with 35 teeth has a diametral pitch of 10. Determine
the diameter of the pitch cir-cle, the circular pitch, and the base circle.
D , p, db = ?
11/29/2024 404012 - Kinematics and design of machinery 18
6.4. Standard Gears and
Relationships of Gears in Mesh
11/29/2024 404012 - Kinematics and design of machinery 19
6.4. Standard Gears and
Relationships of Gears in Mesh
Consider the 20° full-depth, involute spur gear,with 35 teeth and a diametral pitch of 10,
from Example 1 Problem.
Determine the diameter of the addendum circle, dedendum circle, and the clearance.
11/29/2024 404012 - Kinematics and design of machinery 20
6.4. Standard Gears and
Relationships of Gears in Mesh
Ex1: Consider the 25° full-depth, involute spur gear,with 40 teeth and a diametral pitch of
12.
Determine the diameter of the pitch cir-cle, the circular pitch, and the base circle.
Determine the diameter of the addendum circle, dedendum circle, and the clearance.
Ex2: A gear reducer is used on a concept for a small trolling motor for fishing boats.
The gears must transmit 5 hp from an electric motor at 900 rpm to the propeller at 320
rpm. Select a set of gears to accomplish this task.
11/29/2024 404012 - Kinematics and design of machinery 21
6.4. Standard Gears and
Relationships of Gears in Mesh
Ex2: A gear reducer is used on a concept for a small trolling motor for fishing boats.
The gears must transmit 5 hp from an electric motor at 900 rpm to the propeller at 320
rpm. Select a set of gears to accomplish this task.
11/29/2024 404012 - Kinematics and design of machinery 22
6.4. Standard Gears and
Relationships of Gears in Mesh
Ex2: A gear reducer is used on a concept for a small trolling motor for fishing boats.
The gears must transmit 5 hp from an electric motor at 900 rpm to the propeller at 320
rpm. Select a set of gears to accomplish this task.
11/29/2024 404012 - Kinematics and design of machinery 23
6.4. Standard Gears and
Relationships of Gears in Mesh
The contact ratio is the average number of teeth that
are in contact at any instant.
Obviously, the contact ratio must exceed 1 because
contact between gears must not be lost.
In practice, contact ratios should be greater than 1.2.
Robust designs have contact ratios of 1.4 or 1.5.
11/29/2024 404012 - Kinematics and design of machinery 24
6.4. Standard Gears and
Relationships of Gears in Mesh
11/29/2024 404012 - Kinematics and design of machinery 25
6.4. Standard Gears and
Relationships of Gears in Mesh
Thus, an expression for the contact ratio, in terms of the gear tooth geometry,
can be given as
11/29/2024 404012 - Kinematics and design of machinery 26
6.4. Standard Gears and
Relationships of Gears in Mesh
11/29/2024 404012 - Kinematics and design of machinery 27
6.4. Standard Gears and
Relationships of Gears in Mesh
Undercutting should be avoided unless the
application absolutely requires a compact gearset.
11/29/2024 404012 - Kinematics and design of machinery 28
6.4. Standard Gears and
Relationships of Gears in Mesh
Backlash is the amount that the width of a tooth
space exceeds the thickness of a gear tooth,
measured on the pitch circle.
Recommended values of backlash are specified by AGMA:
Although these values are somewhat conservative, general power-transmitting
gears have recommended backlash values of:
11/29/2024 404012 - Kinematics and design of machinery 29
6.4. Standard Gears and
Relationships of Gears in Mesh
The backlash variation that will be encountered with a
variation in the center distance can be approximated by
the following relationship:
11/29/2024 404012 - Kinematics and design of machinery 30
6.4. Standard Gears and
Relationships of Gears in Mesh
Ex: The gears for the concrete mixer described in Example Problem before
are catalog items with a designed backlash of 0.4/Pd.
Specify a center distance that reduces the backlash to an AGMA
recommended value of 0.1/Pd.
11/29/2024 404012 - Kinematics and design of machinery 31
6.4. Standard Gears and
Relationships of Gears in Mesh
The relationship that can be used to determine
the amount of variance is derived as:
11/29/2024 404012 - Kinematics and design of machinery 32
6.5. Spur Gear Kinematics
The pitch line velocity is defined as the magnitude of the velocity of the pitch
point of the two mating gears.
11/29/2024 404012 - Kinematics and design of machinery 33
6.5. Spur Gear Kinematics
11/29/2024 404012 - Kinematics and design of machinery 34
6.6. Spur Gear Selection
In the typical design situation,
the first selection parameter is
an appropriate diametral pitch.
11/29/2024 404012 - Kinematics and design of machinery 35
6.6. Spur Gear Selection
EXAMPLE PROBLEM
A pair of mild-steel gears is to be selected for the concrete mixer described in
Example Problem 10.3. The mixer is driven by a 10-hp engine at a speed of
1800 rpm. Determine an appropriate diametral pitch.
Mild-steel gears that are capable of handling 10 hp at a pinion speed of 1800 rpm are specified.
From interference criteria, Table 10.3 shows that an 18-tooth pinion with a pressure angle of
20° can mate with any other gear. Table 10.6 suggests that a diametral pitch of eight should be
used to transfer the power. Therefore, an 18-tooth,mild-steel pinion with a diametral pitch of
eight should be suitable. For a more reliable selection, thorough strength analysis should be
performed.
11/29/2024 404012 - Kinematics and design of machinery 36
6.6. Spur Gear Selection
The second parameter that should be selected
is a pressure angle.
11/29/2024 404012 - Kinematics and design of machinery 37
6.6. Spur Gear Selection
Finally, the number of gear teeth should be
determined.
11/29/2024 404012 - Kinematics and design of machinery 38
6.6. Spur Gear Selection
EXAMPLE: A gear reducer is used on a concept for a small trolling motor for
fishing boats. The gears must transmit 5 hp from an electric motor at 900 rpm
to the propeller at 320 rpm. Select a set of gears to accomplish this task.
11/29/2024 404012 - Kinematics and design of machinery 39
6.6. Spur Gear Selection
EXAMPLE: A pair of gears is powered by an electric motor and used to drive
the spindle of a lathe at 200 rpm. This drive system is illustrated in Figure. The
1-hp motor will be replaced by a more efficient but higher-speed motor, rated at
600 rpm. To accomplish this alteration, a new set of gears must be selected
that will maintain the spindle speed at 200 rpm. However, the gears are
mounted in an elaborate housing that cannot be modified. Therefore, the
center distance between the gears must remain at 7.5 in. Specify a set of gears
that can be used.
11/29/2024 404012 - Kinematics and design of machinery 40
6.7. Rack and Pinion Kinematics
In fact, mathematically, a rack can be treated as a
spur gear with an infinite pitch diameter.
Therefore, all geometric properties that were
introduced for spur gears also apply to a rack.
The only difference is that instead of referring to a
pitch diameter, a rack has a pitch line.
11/29/2024 404012 - Kinematics and design of machinery 41
6.7. Rack and Pinion Kinematics
A gear rack is used to convert rotational motion of a pinion to
translating motion of the rack
A rack is a special case of spur gear where the teeth of the rack are
not formed around a circle, but laid flat. The rack can be perceived as
a spur gear with an infinitely large diameter. When the rack mates with
a spur gear, translating motion is produced. A mating rack and gear
are illustrated in Figure
11/29/2024 404012 - Kinematics and design of machinery 42
6.7. Rack and Pinion Kinematics
The rack displacement equation can be given as
Where Δθpinion must be specified in radians.
The magnitude of the linear velocity of the rack is given as
11/29/2024 404012 - Kinematics and design of machinery 43
6.7. Rack and Pinion Kinematics
EX: A rack and pinion is used on a drill press as shown in Figure. The 16-
pitch pinion has 16 teeth. Determine the distance that the handle (and pinion)
must be rotated in order to advance the drill 0.75 in.
Rack and pinion drill press.
11/29/2024 404012 - Kinematics and design of machinery 44
6.7. Rack and Pinion Kinematics
Ex: For the drill press described in Example , determine the speed that the pinion
must be rotated in order to advance the drill at a rate of 12 in./min.
11/29/2024 404012 - Kinematics and design of machinery 45
6.8. Special Gear Kinematics
Helical Gear
11/29/2024 404012 - Kinematics and design of machinery 46
6.8. Special Gear Kinematics
Helical Gear
11/29/2024 404012 - Kinematics and design of machinery 47
6.8. Special Gear Kinematics
Helical Gear
normal circular pitch can be related to the transverse circular pitch
through trigonometry.
11/29/2024 404012 - Kinematics and design of machinery 48
6.8. Special Gear Kinematics
Helical Gear
11/29/2024 404012 - Kinematics and design of machinery 49
6.8. Special Gear Kinematics
EX: In order to reduce the noise in a gear drive, two 12-pitch gears with 20 and 65
teeth are to be replaced with helical gears. The new set of gears must have the
same velocity ratio. Because the same housing will be used, the center distance
must also remain the same. Assume that the helical gears will be formed with a hob.
11/29/2024 404012 - Kinematics and design of machinery 50
6.8. Special Gear Kinematics
Helical Gear
11/29/2024 404012 - Kinematics and design of machinery 51
6.8. Special Gear Kinematics
Helical Gear
The minimum number of pinion teeth that can be used, mating with
any size gear, without interference concerns is written as follows:
11/29/2024 404012 - Kinematics and design of machinery 52
6.8. Special Gear Kinematics
Bevel Gear
One of the most important properties of a bevel gear arrangement is the
shaft angle.
The shaft angle is defined as the angle between the centerlines of the
supporting shafts.
Common bevel gear applications consist of shafts that intersect at right
angles or have a shaft angle of 90°.
11/29/2024 404012 - Kinematics and design of machinery 53
6.8. Special Gear Kinematics
Bevel Gear
Most bevel gears are made with a pressure angle of 20°; however,
the tooth form is usually not an involute due to the difficulty in
manufacturing.
Alternate profiles have been developed, have been trademarked by
vendors, and serve as competitive features.
In addition to diametral pitch and pressure angle, bevel gears are
classified by their pitch angle.
11/29/2024 404012 - Kinematics and design of machinery 54
6.8. Special Gear Kinematics
11/29/2024 404012 - Kinematics and design of machinery 55
6.8. Special Gear Kinematics
Bevel Gear
11/29/2024 404012 - Kinematics and design of machinery 56
6.8. Special Gear Kinematics
EX: A pair of bevel gears have 18 and 27 teeth and are used on shafts that
intersect each other at an angle of 70°.Determine the velocity ratio and the
pitch angles of both gears.
11/29/2024 404012 - Kinematics and design of machinery 57
6.9. Gear Trains
11/29/2024 404012 - Kinematics and design of machinery 58
6.9. Gear Trains
A gear train is shown in Figure. The gears have the following properties:
Determine the rotational velocity of gear 7 as gear 2 drives at 1800 rpm counterclockwise.
Also determine the distance between the shafts that carry gears 2 and 7.
11/29/2024 404012 - Kinematics and design of machinery 59
6.9. Gear Trains
A gear train is shown in Figure. The gears have the following properties:
Determine the rotational velocity of gear 7 as gear 2 drives at 1800 rpm counterclockwise.
Also determine the distance between the shafts that carry gears 2 and 7.
11/29/2024 404012 - Kinematics and design of machinery 60
6.9. Gear Trains
A gear train is shown in Figure. The gears have the following properties:
Determine the rotational velocity of gear 7 as gear 2 drives at 1800 rpm counterclockwise.
Also determine the distance between the shafts that carry gears 2 and 7.
The center distance between gears 2 and 7 can be determined by stacking the pitch radii from all gears
between 2 and 7. This can be seen in Figure
11/29/2024 404012 - Kinematics and design of machinery 61
ASSIGNMENT
Review: [1]: 6.1 to 6.9.
Do homework.
11/29/2024 404012 - Kinematics and design of machinery 62