•Unit I:-Mechanisms And Machines

Presented by
Name:-Prof. Manish Thakur
Department:- Mechanical Engg.
Email: [Link]@[Link]
RA3CO52 Kinematics and Dynamics of Machines 30
24
Unit I - Introduction of Mechanisms and Machines:
Unit- II: :-Cams and Followers:
Unit III - GEARS AND GEAR TRAINS
Unit IV - Dynamic Analysis of Reciprocating Engines
Unit V : Governor Mechanisms

[Link] Thakur Medicaps university,Indore

RA3CO52 Kinematics and Dynamics of Machines 30
24
Unit-1: Introduction of Mechanisms and Machines:
Mechanisms and Machines, Planar and Spatial Mechanisms, Kinematic Pairs, Kinematic Chains,
Degrees of Freedom, Kutzbach and Grubler’s criterion, Number Synthesis, Grashof’s criterion,
Kinematic Inversion, Four bar chain and single Slider Crank chain and their Inversions, Davis and
Ackermann Steering, Mechanisms, Pantograph Mechanisms.

Unit- 2: :-Cams and Followers:

Classification of Cams and Followers, Terminologies of Cams, Displacement, velocity, and
accelerations of followers for standard motions – Uniform, Parabolic, SHM and Cycloidal
motion,. Cam profile generation.


[Link] Thakur Medicaps university,Indore

RA3CO52 Kinematics and Dynamics of Machines 30
24
UNIT 3 GEARS AND GEAR TRAINS:
Classification of gears, Law of gearing, Spur Gears : Terminology, Velocity of sliding, Tooth profiles- Cycloidal and
Involute and their comparison, Concept of path of contact, arc of contact and contact ratio and their relationship for
spur gear. Concepts of Interference and Undercutting, Minimum number of teeth to avoid interference
Gear Trains: Simple, Compound, Reverted and Epi-Cyclic gear train and theirVelocity ratio.
Unit 4: Dynamic Analysis of Reciprocating Engines:
Analytical expressions of displacement, velocity and acceleration of piston, Analytical expressions of Piston effort,
Connecting rod force and turning moment in engines, Turning moment diagrams of: Single Cylinder and Multi-
cylinder Internal combustion engines, Coefficient of fluctuation of- Energy and Speed, energy stored in Flywheel.
Unit 5 : Governor Mechanisms:
Governors and its type, Types of governors, terminology of Centrifugal Governors, Different types of centrifugal
Governors- Watt, Porter, Proell, Hartnell Hartung, Gravity and Spring Controlled Governor, their performance
characteristics, Different characteristics like – Stability, Isochronism and Hunting in Governors.


[Link] Thakur Medicaps university,Indore

RA3CO52 Kinematics and Dynamics of Machines 30
24
COURSE OBJECTIVES:
Course Learning Objectives (CLOs):
CLO01 To understand the basic concepts and principles of Kinematics and Dynamics of Machine
including key definitions.
CLO02 To analyze the basic concepts of cam -follower, Gear and gear trains, Dynamic Analysis of
Reciprocating Engines and Governor Mechanisms.
CLO03 To apply knowledge of cam - follower, Gear and gear trains, Dynamic Analysis of Reciprocating
Engines and Governor Mechanisms to real world application.
CLO04 To evaluate the working and performance of cam - follower, Gear and gear trains, Dynamic
Analysis of Reciprocating Engines and Governor Mechanisms to real world application.
CLO05 To create solutions for problems involving of cam - follower, Gear and gear trains, Dynamic
Analysis of Reciprocating Engines and Governor Mechanisms


[Link] Thakur Medicaps university,Indore

RA3CO52 Kinematics and Dynamics of Machines 302
4
Course Outcomes (COs):
After completion of this course the students shall be able to:
CO01 Students shall be able to select appropriate mechanism used in machine.
CO02 Students shall be able to decide appropriate cam & follower mechanism to achieve
desired motion in different real world application.
CO03 Students shall be able to identify suitable gear mechanisms for power transmission.
CO04 Students shall be able to perform dynamic analysis of engine and design of
flywheel.
CO05 Students shall be able to perform dynamic analysis of governor and range of speed.

[Link] Thakur Medicaps university,Indore

RA3CO52 Kinematics and Dynamics of Machines 30
24
TEXT BOOKS
1. Rattan S.S.; Theory of machines; Mc-Graw Hills Publications.
2. Ambekar A. G.; Mechanism and Machine Theory; PHI. Eastern Economy
Edition.
3. Khurmi R. S. and Gupta J. K., Theory of Machines, S. Chand & Co.
REFERENCE BOOKS
[Link] T., “Theory of Machines: A text book for engineering students”, CBS, New Delhi.
2. Jagdish Lal; Theory of Machines; Metropolitan Book Co; Delhi
3. Ghosh, A, and Malik, A. K. “Theory of Mechanisms and Machines”, East West Press Pvt. Ltd.

[Link] Thakur Medicaps university,Indore

 Power Transmission
• Power transmission is the movement of energy from its
place of generation to a location where it is applied for
performing useful work.
• A mechanical drive is defined as a mechanism, which is
intended to transmit mechanical power over a certain
distance, usually involving a change in speed and torque.
• In general, the mechanical drive is required between the
prime mover, such as electric motor and the part of the
operating machine.

8
Power Transmission Through
•Belt Drive
•Rope Drive
Drives that transmit power by means of friction .
•Chain Drive
•Gear Drive
Drives that transmit power by means of engagement.

9
 Belt, Rope and Chain Drives
• The belts or ropes are used to transmit power from one shaft to another
by means of pulleys which rotate at the same speed or at different speeds
• Chain uses sprocket for transmission
• Slip, Creep are the problem
• May be used over long distance compared to Gear drives.
• However, the selection of a proper mechanical drive for a given
application depends upon number of factors such as centre distance,
velocity ratio, shifting arrangement, maintenance and cost.

10
 GEAR
Gears are defined as toothed wheels, which transmit power
and motion from one shaft to another by means of successive
engagement of teeth.
Gears are toothed members which transmit power/motion
between two shafts by meshing without any slip. Hence, gear
drives are also called positive drives.
In any pair of gears, the smaller one is called pinion and the
larger one is called gear /wheel immaterial of which is driving
the other.
When pinion is the driver, it results in step down drive in
which the output speed decreases and the torque increases.
On the other hand, when the gear is the driver, it results in
step up drive in which the output speed increases and the
torque decreases. 11
 Gear
• A gear is a component within a transmission device that transmits
rotational force to another gear or device
• A gear is a wheel with teeth that mesh together with other gears
• Gear changes
a. Speed b. Torque c. Direction of rotation
• Two gears while transmitting motion from higher pair.

12
Gear – Advantage/Disadvantage
 Positive Drive
 Precision Machines
 Exact Velocity Ratio (Watch Mechanism)
Compact Layout – Small distance
 May transmit large power
 Very high efficiency
 Reliable service

13
 Gear –
Advantage/Disadvantage
• Manufacturing require special tools and equipment
• Error in cutting teeth may cause vibrations and noise
during operation
• Not suitable for very large distance
• Costly

14
 Some Applications of Gears
 Toys and Small Mechanisms –
Small, Low Load, Low Cost
Kinematic Analysis
• Sports cars go fast (have speed) but cannot pull any weight.
• Big trucks can pull heavy loads (have power), but cannot
go fast.
 Appliance Gears
Long Life, Low Noise & Cost, Low to Moderate Load
Kinematic & Some Stress Analysis

15
Friction Wheels/Disks

• The motion and power transmitted by gears is

kinematically equivalent to that transmitted by friction
wheels or discs
 Two plain circular wheels A
and B mounted on shafts,
having sufficient rough
surfaces pressing against
each other
 Wheel A will drive B in
opposite direction

16
 Friction Wheels
• P > F What will happen ? Slip
• Teeth in place of friction surface will result in positive
drive with no slip

12
 Types of Gears
1. According to the position of axes of the shafts
a. Parallel
- Spur Gear
- Helical Gear
- Rack and Pinion
b. Intersecting
Bevel Gear
c. Non-intersecting and Non-parallel
Worm and worm gears ,crossed helical gear , Skew or
Hyperboloids Gear.

13
Types of Gears
2. According to the peripheral velocity
a. Low Velocity < 3 m/s
b. Medium Velocity 3 to 15 m/s
c. High Velocity > 15 m/s

3. According to type of Gearing

a. External Gearing
b. Internal Gearing
c. Rack and Pinion

14
 Types of Gears

External Internal Rack & Pinion

Note Direction in each case
Terms : Gear, Pinion, Annulus wheel etc.

15
Types of Gears
4. According to Tooth Profile [Tooth Form]
a. Involute
b. Cycloidal
5. According to Gear Teeth System
a. 14 ½° Composite system
b. 14 ½° Full depth involute
c. 20° Full depth involute
d. 20° Stub involute
e. Other 24° etc.
6. According to Relative motion of Shaft
a. Fixed
b. Planetary

16
Gear and Pinion
• Larger of the two is called
Gear
• Pinion is the smaller one
• Usually Pinion is Driver, but
not necessary
• Speed Enhancer or Reducer

17
 Spur Gear
• Teeth is parallel to axis of
rotation
• Transmit power from one
shaft to another parallel
shaft
• Used in Electric screwdriver,
oscillating sprinkler, windup
alarm clock, washing
machine and clothes dryer

18
 SPUR GEAR
Spur gears are the most commonly
used gear type.
They are characterized by teeth which
are perpendicular to the face of the
gear.
Spur gears are by far the most
commonly available, and are generally
the least expensive.
Transmits power and motion between
rotating two parallel shafts.
[Link] up to 6 for single stage.
They have sudden application of the
load ,high impact stresses and
excessive noise at high speed.
24
External and Internal Spur
Gear

20
 HELICAL GEARS

The teeth of these gears are cut

at an angle with the axis of the
shaft.
The magnitude of helix angle of
pinion and gear is same;
however the hand of helix is
opposite. A right-hand pinion
meshes with a left-hand gear and
vice versa.
26
 Helical Gear
• The teeth on helical gears are cut at an angle (Helix
Angle) to the face of the gear .
• This gradual engagement makes helical gears operate
much more smoothly and quietly than spur gears .
• One interesting fact about helical gears is that if the
angles of gear teeth are correct, they can be mounted
on perpendicular shafts, adjusting the rotation angle
by 90° .
• [Link] up to 10 for single stage.
24
Helical Gear

25
 Helical Gear

Left Hand Right Hand

Opposite Same
Hand Hand
26
 HELICAL GEARS
The resulting teeth are longer than the
teeth on a spur gear of equivalent pitch
diameter.
The longer teeth cause helical gears to
have the following differences from spur
gears of the same size:
oTooth strength is greater because the
teeth are longer.
oGreater surface contact on the teeth
allows a helical gear to carry more load
than a spur gear
30
 Herringbone Gears
• To avoid axial thrust, two helical gears of opposite hand can
be mounted side by side, to cancel resulting thrust forces
• Herringbone gears are mostly used on heavy machinery.

28
 Helical Gear

Single Helical, Double Helical (space for Tool RunOut)

29
 HELICAL GEARS
There is a special case of type of helical
gear, consisting of two helical gears with
opposite hand of helix. It is called
herringbone gears.
Precision herringbone gears are more
difficult to manufacture than equivalent
spur or helical gears and consequently are
more expensive.
They are used in heavy machinery i.e
turbine and gear boxes.
33
Rack and Pinion
A special case of spur gears with the gear having an infinitely large
diameter, the teeth are laid flat

31
 Rack and Pinion
Unlike the basic spur gear, racks have their teeth cut into the surface of a
straight bar instead of on the surface of a cylindrical blank .

32
 Straight and Spiral Bevel Gears
The teeth on bevel gears can be Straight, Spiral application in Locomotives, marine applications, automobiles, printing
presses, cooling towers, power plants, steel plants, railway track inspection machines, etc.

33
Straight and Spiral Bevel Gears

34
 BEVEL GEARS
Bevel gears have the shape of truncated cone. The size of
the gear tooth, including thickness and height, decreases
towards the apex of the cone.
Bevel gears are normally used for shafts, which are at right
angles to each other. This however is not rigid condition and
the angle can be slightly more or less than 90o.
The tooth of bevel gears can be cut straight or spiral.
Bevel gear impose radial and thrust loads on the shaft.
One of the most common applications of bevel gears is the
bevel gear differential.
Limited availability. Cannot be used for parallel shafts. Can
become noisy at high speeds.
38
Other Bevel Gears
• Miter Gears are identical to bevel gears except that in a
miter gear set, both gears always have the same number of
teeth.
• Their ratio, therefore, is always 1 to 1
• The teeth may be Straight or Spiral

37
 Worm and Worm Gear

Right Hand Worm Worm Gear

38
Worm and Worm Gear

39
 Worm and Worm Gear
• Worm Gear sets – consists of a helical gear and a power
screw (worm)
• Used to transfer motion between non-parallel and non-
intersecting shafts
• Worm gears are used when large gear reductions are needed
[Commonly 20:1, Even > 300:1]
• Used in material handling and transportation machinery,
machine tools, automobiles etc

40
 Worm and Worm Gear
• Worm gear acts like a gear with one tooth, this gives
very large gear ratios
• Worm gears are not back-driveable
• Worm gears have this interesting property that no
other gear set has: The worm can easily turn the gear,
but the gear cannot turn the worm
• This property is used as a locking mechanism

41
 Idler or Idle Gear

An idler gear is a gear that is inserted between two

other gears.
Why Idle ?
42
 Idler or Idle Gear
idler gear

Idler gears DO NOT change the gear ratio

Idler gears DO…
make both gears rotate in same direction
add spacing between gears
43
 Gear Material
 Depends upon the strength and service conditions like
wear, noise etc.
 May be metallic or non-metallic
 Metallic – Cast iron, Steel, Bronze, etc.
 Nonmetallic – Wood, Raw hide, Compressed paper and
Synthetic Resins like Nylon [noise reduction]

44
 Gear Material
 Cast Iron – Good wear properties, excellent
machinability and ease of producing complicated
shapes by casting method.
 Steel – High strength gears
 Steel may be plain carbon steel or alloy steel
 Steel gears are usually heat treated in order to
combine property the toughness and tooth
hardness .
 Phosphor bronze – Worm gears in order to reduce
wear of the worms which will be excessive with cast
iron or steel
45
Nomenclature of Spur Gears

48
Nomenclature of Spur Gears

49
 Nomenclature
• Pitch Surface: The surface of the imaginary rolling cylinder (cone, etc.) that the
toothed gear may be considered to replace
• Pitch Circle: A right section of the pitch surface
• Pitch Point: Point of contact between two pitch circles
• Addendum Circle: A circle bounding the ends of the teeth, in a right section of
the gear
• Root (or Dedendum) Circle: The circle bounding the spaces between the teeth,
in a right section of the gear
• Base Circle: The circle of the base cylinder from which the involute portion of a
tooth profile is generated

48
 Nomenclature
• Addendum: The radial distance between the pitch circle and the
addendum circle, height by which a tooth projects beyond the pitch circle
or pitch line
• Dedendum: The radial distance between the pitch circle and the root
circle. The depth of a tooth space below the pitch line. It is normally
greater than the addendum of the mating gear to provide clearance
• Clearance: The difference between the dedendum of one gear and the
addendum of the mating gear (Circle)
• Clearance (Operating): The amount by which the dedendum in a given
gear exceeds the addendum of its mating gear

49
 Nomenclature
• Face of a tooth: That part of the tooth surface lying outside
the pitch surface
• Flank of a tooth: The part of the tooth surface lying inside
the pitch surface
• Circular Thickness (also called the tooth thickness): The
thickness of the tooth measured on the pitch circle. It is the
length of an arc and not the length of a straight line
• Tooth Space: pitch diameter The distance between adjacent
teeth measured on the pitch circle
• Top Land: The surface of the top of the tooth

50
 Nomenclature
• Face Width: The width of the gear tooth measured parallel to its axis;
The length of the teeth in an axial plane
• Profile: Curve formed by the face and flank of the tooth
• Fillet Radius: The radius that connects the root circle to the profile of
the tooth; The radius of the fillet curve at the base of the gear tooth
• Tip Relief: An arbitrary modification of a tooth profile whereby a
small amount of material is removed near the tip of the gear tooth
• Undercut: A condition in generated gear teeth when any part of the
fillet curve lies inside a line drawn tangent to the working profile at its
point of juncture with the fillet

51
 Nomenclature
• Pressure Angle (φ): Angle between the common normal to two gear teeth
at the point of contact and the common tangent at the pitch point [Standard
φ 14½° and 20°]
• Total or Whole Depth: Radial distance between the addendum and the
dedendum circles of a gear; equal to the working depth plus variance
• Working Depth: It is equal to the sum of the addendum of the two meshing
gears; It is the radial distance from the addendum circle to the clearance
circle
• Full Depth Teeth
• Stub Teeth

52
 Nomenclature
• Backlash: Difference between the tooth space and the tooth
thickness, as measured along the pitch circle. Theoretically, the
backlash should be zero, but in actual practice some backlash must
be allowed to prevent jamming of the teeth due to tooth errors and
thermal expansion. It prevent noise, abnormal wear and excessive
heat, provide space for lubrication of the gears
• As actually indicated by measuring devices, backlash may be
determined variously in the transverse, normal, or axial-planes, and
either in the direction of the pitch circles or on the line of action.
Such measurements should be corrected to corresponding values on
transverse pitch circles for general comparisons .

53
 Nomenclature
• Circular Pitch (Pc): The width of a tooth and a space, measured on the pitch
circle [Same Pc for meshing] .The distance along the pitch circle or pitch line
between corresponding profiles of adjacent teeth. Distance measured on
circumference of pitch circle from a point of one tooth to the corresponding
point on next tooth.
Pc = π D/Z [Z = No. of teeth, D = Pitch diameter]
• Diametral Pitch (Pd): The number of teeth of a gear per unit pitch diameter
Pd = Z / D [Pc Pd = π]

54
 Nomenclature
• Module (m): Pitch diameter divided by number of teeth
m = D / Z = 1/ Pd
Recommended values of modules in Indian Standard are 1, 1.25, 1.5,
2, 2.5, 3, 4, 5, 6, 8, 10, 12, 16 and 20
Modules 1.125, 1.375, 1.75, 2.25, 2.75, 3.5, 4.5, 5.5, 7, 9, 11, 14 and 18
are of second choice

55
Nomenclature
• Contact Ratio: The ratio of the length of arc of contact to
the circular pitch i.e. number of pairs of teeth in contact
The number of angular pitches through which a tooth surface
rotates from the beginning to the end of contact.
• Gear Ratio is the ratio of the number of teeth on one gear to
the number of teeth on the other gear
Gear ratio = 40 to 8 or, simply, 5 to 1
That means it takes 5 revolutions of the smaller gear to get 1
revolution of the larger gear
It also means the 40 tooth gear’s axle has 1/5 times the
torque (rotational force) as the 8 tooth gear’s axle

59
 Nomenclature
• Center Distance: The distance between the center of the shaft of one
spur gear to the center of the shaft of the other spur gear

60
 Nomenclature
• Rotation: The direction in which a gear revolves while in operation – is
one of the most important concepts in the power transmission
• When there is an even number of gears, the driver and driven will
rotate in opposite directions, while with odd number of gears, the
driver and driven will rotate in the same direction

61
Teeth [Different Pressure
Angle]

14 ½° 20° 25°

61
Teeth and Rack

14 ½ ° 20 °

63
 Velocity Ratio of Gear
Drive
d = Diameter of the wheel
N = Speed of the wheel
ω = Angular speed

 2 N 2 d1
Velocity Ratio (n) =  
1 N 1 d 2

64
 Law Of Gearing
A positive drive is the one which transmits
an absolute uniform angular velocity
ratio during even a small fraction of a
revolution.
The law of gearing states the condition
which must be fulfilled by the gear tooth
profiles to maintain a constant angular
velocity ratio between two gears.
65
Law Of Gearing

Vc= ω1×AC ,Vd = ω2×BD

•Component of Vc along n-n=Vccosα
•Component of Vd along n-n =Vdcosβ
•Relative motion along n-n =Vccosα -Vdcosβ 66
Law Of Gearing

ω1×ACcosα-ω2×BDcosβ=0
ω1AC×AE/AC – ω2BD×BF/BD =0
ω1×AE – ω2×BF =0
ω1 /ω2 =BF/AE=BP/AP=FP/EP 67
 Law Of Gearing
The law of gearing states that for transmitting constant
angular velocity ratio ,common normal to the contacting
surfaces of mating teeth ,at every instantaneous point of
contact ,must pass through a fixed point on the line of centers
of the two gears.
The fixed point is called the pitch point which divides the line
of centers in inverse ratio of the angular velocities of the
mating gears.

68
 Velocity of sliding
Component of Vc along t-t =Vcsinα
Component of Vd along t-t =Vdsinβ
so velocity of sliding = Vcsinα - Vdsinβ
= ω1 AC×EC/AC – ω2 BD×FD/BD
= ω1 EC - ω2 FD
= ω1 (EP + PC) – ω2 (FP –PD)
= ω1 EP + ω1 PC - ω2 FP + ω2 PC
=(ω1 + ω2 )PC + ω1 EP - ω2 FP ( BUT ω1 EP = ω2 FP)
=(ω1 + ω2 )PC
= SUM OF ANGULAR VELOCITIES × DISTANCE BETWEEN THE 69
 FORMS OF TEETH (CYCLOIDAL PROFILE )
• A cycloid is the locus of a point on the circumference of a
circle that rolls without slipping on a fixed straight line.
• An epicycloid is the locus of a point on the circumference
of a circle (generating) that rolls without slipping outside
the circumference of another circle(Directing).
• A hypocycloid is the locus of a point on the
circumference of a circle that rolls without slipping inside
the circumference of another circle.

70
FORMS OF TEETH (CYCLOIDAL PROFILE )

A property of the hypocycloid is that at any

Instant the line joining the generating point with point of
contact of two circles is normal
To the hyperbolid.
71
INVOLUTE PROFILE TEETH
• An involute is defined as the locus of a point
on a straight line which rolls without slipping
on the circumference of a circle.
• An involute is the path traced out by the end of
a piece of a taut string being unwound from the
circumference of a circle.
• The circle on which the straight line rolls or
from which the string is unwound is known as
the base circle.

74
 INVOLUTE PROFILE TEETH

D can be regarded as the instantaneous center of

rotation of B. The normal to involute is tangent to
base circle. 75
 Nomenclature
• Path of Contact: The path traced by the point of contact of two teeth
from the beginning to the end of engagement
• Length of Path of Contact: Length of the common normal cut-off
by the addendum circles of the wheel and pinion
• Arc of Contact: Path traced by a point on the pitch circle from the
beginning to the end of engagement of a given pair of teeth
• Arc of Approach: The portion of the path of contact from the
beginning of the engagement to the pitch point
• Arc of Recess: The portion of the path of contact from the pitch
point to the end of the engagement of a pair of teeth

58
 Path of contact

Path of contact=path of approach + path of recess

CD =CP +PD
CD=(CF –PF) + (DE – PE)
=[√(Ra2 – (RcosØ)2 ) - (RSinØ)]+[√(ra2 - (rcosØ)2 ) – (rsinØ) ] 79
Arc of contact
Arc of contact = Arc of
approach + Arc of recess
Arc of approach =p’p
=Tangential
velocity of p’ ×Time of
approach
= ωa r ×ta
= ωa (rcosØ)×(1/cosØ) ×ta
= (Tang. Vel. Of H)
×(1/cosØ) ×ta
= Arc HK/ cosØ
= (Arc FK-ArcFH)/cos Ø 80
Arc of contact
Arc of recess =PP” =[Link]
P× Time of recess = ωa r ×tr
= ωa (rcosØ)×(1/cosØ) ×tr
= (Tang. Vel. Of K) ×(1/cosØ)
×tr
= Arc KL/ cosØ
= (Arc FL-ArcFK)/cos Ø
PP” =(FD-FP)/cosØ =PD/cosØ
Arc of contact =CP/cosØ +
PD/cosØ
=(CP+PD)/cosØ =CD/cosØ
Arc of contact = Path of
contact/cosØ 81
 Number of Pairs of Teeth in Contact /Contact
Ratio
As shown in Figure the arc of contact is P′ P″. All the teeth lying in between
this arc of contact will be meshing with the teeth on other gear.
Number of teeth within the arc of contact (n) =
Arc P’PP”/ circular pitch ( Pc )
n = Path of contact /(CosØ × Pc )
The value of n should be greater than 1 and practically it lies between 1 and 2.
The value of n will be equal to contact ratio which is ratio of the angle of action
to the pitch angle .
What is the meaning of C.R.= 1.2

82
Interference and Undercutting

91
 Interference in involute
Gears

WHEN THE TIP OF TOOTH UNDERCUTS THE ROOT ON ITS MATING GEAR IS KNOWN AS INTER FERENCE.
Max. length of path of approach = PE =r SINØ
Max. length of path of recess = PF = R SINØ
Max. length of path of contact = (r + R)SINØ
Max. length of arc of contact = (r +R) TANØ

83
 METHODS OF AVOIDING
INTERFERENCE
• Undercutting of Teeth To avoid interference, a portion of
the radial part of the tooth can be cut out. This undercutting
will provide clearance between the gear teeth with the pinion
teeth. But the undercutting makes teeth weaker at the root.
Therefore, such a method can be used only for those gears
which run at very low speed. Figure shows the portion to be
cut for undercutting.

84
 METHODS OF AVOIDING
INTERFERENCE
Stubbing of Gear Teeth In order to reduce space requirement below pitch circle of
pinion and above that base circle, the stub teeth can be used for mating gear. In stub
teeth the addendum of gear is ‘0.6 m’ instead of standard addendum of ‘1 m’ as
shown in Figure 9.9(c).

85
 METHODS OF AVOIDING
INTERFERENCE
• Use of Composite Teeth The composite teeth are those
teeth in which above base circle, the profile may be
involute but below base circle it should be cycloid. This
composite profile will always follow law of gearing
provided the pitch circles of two gears touch each other
at pitch point. These teeth are wider at the root and will
have stronger root because of cycloidal profile at the
root.

86
METHODS OF AVOIDING
INTERFERENCE
Increasing the centre distance :-
By increasing the centre distance between two mating gears
than the standard centre distance.
This also slightly increases the pressure angle so reduces
interference.

86
Minimum Number of Teeth to avoid interference

BE2=BF2 + FE2 =BF2 + (FP +PE)2 = (RCOSØ)2 +(RSINØ + rsinø)2

= (RCOSØ)2 +R2 SIN2 Ø+r2SIN2 Ø + 2Rr SIN2 Ø
=R2 (COS2 Ø +SIN2 Ø) + SIN2 Ø(r2 + 2Rr) =R2 + SIN2 Ø(r2 + 2Rr)
=R2 [1+ SIN2 Ø(r2 + 2Rr)/R2 ]= R2 [1 + (r2 /R2 +2r/R)sin2 Ø]
BE = R √{1+r/R(r/R + 2)SIN2 Ø}
87
Minimum Number of Teeth to avoid
interference
Therefore the maximum value of the addendum of the wheel can be =BE – Pitch
circle radius
Aw max = R √{1+r/R(r/R + 2)SIN2 Ø} - R
= R[ √{1+r/R(r/R + 2)SIN2 Ø} – 1]
t=number of teeth on the pinion , r =mt/2
T= number of teeth on the gear ,R =mT/2 ,Gear ratio G=T/t
Aw max = mT/2[ √{1+t/T(t/T + 2)SIN2 Ø} – 1]
Aw max = mT/2[ √{1+1/G(1/G + 2)SIN2 Ø} – 1]
Let the adopted value of the addendum in some case be a w times the
module of teeth .So adopted value of the addendum must be less than
the maximum value of the addendum to avoid interference.
88
 Minimum Number of Teeth to
avoid interference
mT/2[ √{1+1/G(1/G + 2)SIN2 Ø} – 1] ≥ aw m
T ≥ 2 aw / √{1+1/G(1/G + 2)SIN2 Ø} – 1
In the limiting condition
T = 2 aw / √{1+1/G(1/G + 2)SIN2 Ø} – 1
For aw = 1, G = 1, Ø =20°
T minimum = ?

89
 Gear Trains
• A gear train is two or more gear working together by meshing their teeth
and turning each other in a system to generate power and speed
• It reduces speed and increases torque
• Electric motors are used with the gear systems to reduce the speed and
increase the torque

104
 Types of Gear Trains
• Simple gear train
• Compound gear train
• Planetary gear train

Simple Gear Train

• The most common of the gear train is the gear pair connecting
parallel shafts. The teeth of this type can be spur, helical or
herringbone.
• Only one gear may rotate about a single axis

105
Simple Gear Train

106
 Compound Gear Train
• For large velocities, compound
arrangement is preferred
• Two or more gears may rotate about a
single axis

107
Planetary(Epicyclic) Gear
Train

108
 Planetary Gear Train
• In this train, the blue gear has six times the diameter of the yellow gear
• The size of the red gear is not important because it is just there to reverse
the direction of rotation
• In this gear system, the yellow gear (the sun) engages all three red gears (the
planets) simultaneously
• All three are attached to a plate (the planet carrier), and they engage the
inside of the blue gear (the ring) instead of the outside.

109
 Planetary Gear Train
• Because there are three red gears instead of one, this gear train is extremely
rugged.
• Planetary gear sets is that they can produce different gear ratios depending
on which gear you use as the input, which gear you use as the output, and
which one you hold still.

110
Planetary Gear Train
• They have higher gear ratios.
• They are popular for automatic transmissions in
automobiles.
• They are also used in bicycles for controlling
power of pedaling automatically or manually.
• They are also used for power train between
internal combustion engine and an electric motor

111
 Gear Trains
Sometimes, two or more gears are made to mesh with
each other to transmit power from one shaft to another.
Such a combination is called gear train or train of
toothed wheels . It becomes necessary when it is required
to obtain large speed reduction/enlargement with in
small [Link] nature of the train used depends upon
1. Velocity ratio.
2. Relative position of the axes of shafts.
[Link] of motion.
gear train may consist of spur, bevel or spiral gears.
 Types of Gear Trains
[Link] gear train
2. Compound gear train
3. Reverted gear train
4. Epicyclic gear train.
In the first three types of gear trains, the axes of the shafts over which the
gears are mounted are fixed relative to each other. But in case of epicyclic
gear trains, the axes of the shafts on which the gears are mounted may move
relative to a fixed axis.
Simple Gear Train
 Simple Gear Train
When there is only one gear on each shaft, as shown in Fig. it
is known as simple gear train.
The gears are represented by their pitch circles. When the
distance between the two shafts is small, the two gears 1 and
2 are made to mesh with each other to transmit motion from
one shaft to the other as shown in Fig. (a). Since the gear 1
drives the gear 2, therefore gear 1 is called the driver and the
gear 2 is called the driven or follower. It may be noted that
the motion of the driven gear is opposite to the motion of
driving gear.
 Simple Gear Train
Let N1 = Speed of gear 1(or driver) in r.p.m.,
N2 = Speed of gear 2 (or driven) in r.p.m.,
T1 = Number of teeth on gear 1, and
T2 = Number of teeth on gear 2.
The speed ratio ( velocity ratio) of gear train is the ratio of the speed of driver to the speed
of driven gears in mesh .
Speed ratio = N1/N2 = T2/T1
It may be noted that ratio of the speed of the driven to the speed of the driver is known as
train value of the gear train.
Train value = N2/N1 = T1/T2
Train value is the reciprocal of speed ratio. It may be noted that when the number of
intermediate gears are odd, the motion of both the gears (i.e. driver and driven) is like as
shown in Fig (b).But if the number of intermediate gears are even, the motion of the driven
or follower will be in the opposite direction of the driver as shown in Fig. (c).
Simple Gear Train
 Simple Gear Train
The speed ratio and the train value, in a simple train of gears, is
independent of the size and number of intermediate gears. These
intermediate gears are called idle gears, as they do not effect the
speed ratio or train value of the system. The idle gears are used for
the following two purposes
1. To connect gears where a large centre distance is required,
2. To obtain the desired direction of motion of the driven gear
clockwise or Anticlockwise.
 Compound Gear Train
•When there are more than one gear on a shaft, as shown in
[Link] is called a compound train of gear.
•Whenever the distance between the driver and the driven or
follower has to be bridged over by intermediate gears and at the
same time a great ( or much less ) speed ratio is required, then
the advantage of intermediate gears is intensified by providing
compound gears on intermediate shafts.
•In this case, each intermediate shaft has two gears rigidly fixed
to it so that they may have the same speed. One of these two
gears meshes with the driver and the other with the driven or
follower
Compound Gear Train
Compound Gear Train
 Compound Gear Train
• The advantage of a compound train over a simple gear train is that
a much larger speed reduction from the first shaft to the last shaft
can be obtained with small gears.
• If a simple gear train is used to give a large speed reduction, the
last gear has to be very large.
• Usually for a speed reduction in excess of 7 to 1, a simple train is
not used and a compound train or worm gearing is employed.
• The gears which mesh must have the same circular pitch or
module. Thus gears 1 and 2 must have the same module as they
mesh together. Similarly gears 3 and 4, and gears 5 and 6 must have
the same module.
Compound Gear Train
Example 1. The gearing of a machine tool is shown in Fig. The
motor shaft is connected to gear A and rotates at 975 r.p.m. The
gear wheels B, C, D and E are fixed to parallel shafts rotating
together. The final gear F is fixed on the output
shaft. What is the speed of gear F ? The number of teeth on
each gear are as given below :
Gear A B C D E F No. of teeth 20 50 25 75 26 65
 GEAR BOX OF A MEDIUM SIZED TRUCK

A truck Transmission with gear of 3 mm module & 22½ °

pressure angle
 Design of Spur Gears
Sometimes, the spur gears (i.e. driver and driven) are to be designed for the given velocity
ratio and distance between the centres of their shafts.
Let x = Distance between the centres of two shafts,
 Design of Spur Gears

Example 2. Two parallel shafts, about 600 mm apart are to be

connected by spur gears. One shaft is to run at 360 r.p.m. and the
other at 120 r.p.m. Design the gears, if the circular pitch is to be 25
mm.
 Design of Spur Gears

Since the number of teeth on both the gears are to be in complete numbers, therefore let us
make the number of teeth on the first gear as 38. Therefore for a speed ratio of 3, the
number of teeth on the second gear should be 38 × 3 = 114.
Now the exact pitch circle diameter of the first gear,
Reverted Gear Train
When the axes of the first gear (i.e. first driver) and the last gear
(i.e. last driven or follower) are co-axial, then the gear train is
known as reverted gear train .
We see that gear 1 (i.e. first driver) drives the
gear 2 (i.e. first driven or follower) in the
opposite direction. Since the gears 2 and 3
are mounted on the same shaft, therefore
they form a compound gear and the gear
3 will rotate in the same direction as that of
gear 2. The gear 3 (which is now the second
driver) drives the gear 4(i.e. the last driven
or follower) in the same direction as that of
gear 1. Thus we see that in a reverted gear
train, the motion of the first gear and the
last gear is like. The reverted gear trains
are used in automotive transmissions, lathe
back gears, industrial speed reducers, and
in clocks (where the minute and hour hand
shafts are co-axial).
 Reverted Gear Train

Since the distance between the centres of the shafts of gears 1 and 2 as well as gears 3 and 4
is same, therefore
r1 + r2 = r3 + r4
Also, the circular pitch or module of all the meshing gears must be same.
m1(T1 +T2) = m2(T3 + T4)
REVERTED COMPOUND GEAR TRAIN
Reverted Gear Train
Example 3. The speed ratio of the reverted gear train, as shown in
Fig. , is to be 12. The module pitch of gears A and B is 3.125 mm
and of gears C and D is 2.5 mm. Calculate the suitable numbers of
teeth for the gears. No gear is to have less than 24 teeth.
Reverted Gear Train
Epicyclic Gear Train
In an epicyclic gear train, the axes of the
shafts, over which the gears are mounted,
may move relative to a fixed axis. A simple
epicyclic gear train is shown in Fig. where a
gear A and the arm C have a common axis at
O1 about which they can rotate. The gear B
meshes with gear A and has its axis on the
arm at O2, about which the gear B can rotate.
If the arm is fixed, the gear train is simple
and gear A can drive gear B or vice- versa,
but if gear A is fixed and the arm is rotated
about the axis of gear A (i.e. O1), then the
gear B is forced to rotate upon and around
gear A. Such a motion is called epicyclic and
the gear trains arranged in such a manner that
one or more of their members move upon and
around another member are known as
Two
parallel
Line
represent
meshing of
teeth.
Epicyclic Gear Train
(epi. means upon and cyclic means around).
The epicyclic gear trains may be simple or
compound.
The epicyclic gear trains are useful for transmitting
high velocity ratios with gears of moderate size in a
comparatively lesser space. The epicyclic gear trains
are used in the back gear of lathe, differential gears
of the automobiles, hoists, pulley blocks, wrist
watches etc.
TYPES OF EPICYCLIC GEAR TRAINS

All 12
possible
epicyclic
Gear
Trains
accordin
g to
Lévai
 Velocity Ratio of Epicyclic Gear Train
Algebraic method.
The motion of each element of the epicyclic train relative to the arm is set down in
the form of equations. The number of equations depends upon the number of
elements in the gear train. But the two conditions are, usually, supplied in any
epicyclic train viz. some element is fixed and the other has specified motion. These
two conditions are sufficient to solve all the equations and hence to determine the
motion of any element in the epicyclic gear train.
Let the arm C be fixed in an epicyclic gear train as shown in Fig. Therefore speed of the
gear A relative to the arm C

and speed of the gear B relative to the arm C

Since the gears A and B are meshing directly, therefore they will revolve in opposite directions.

Since the arm C is fixed, therefore its speed, NC = 0.

If the gear A is fixed, then NA = 0.

 Velocity Ratio of Epicyclic Gear Train
Tabular method,
Let us suppose that the arm is fixed. Therefore the axes of both
the gears are also fixed relative to each other. When the gear A
makes one revolution anticlockwise, the gear B will make TA / TB
revolutions, clockwise.
Assuming the anticlockwise rotation as positive and clockwise as
negative, we may say that when gear A makes + 1 revolution,
then the gear B will make (– TA / TB) revolutions. This statement of
relative motion is entered in the first row of the table . Secondly,
if the gear A makes + x revolutions, then the gear B will make – x
× TA / TB revolutions.
This statement is entered in the second row of the table. In other
words, multiply the each motion (entered in the first row) by x.
Thirdly, each element of an epicyclic train is given + y revolutions
and entered in the third row. Finally, the motion of each element
of the gear train is added up and entered in the fourth row.
Velocity Ratio of Epicyclic Gear Train
Tabular method,
 Velocity Ratio of Epicyclic
,
Gear Train
NUMERICAL PROBLEM

Example 4. In an epicyclic gear train, an arm carries two gears A

and B having 36 and 45 teeth respectively. If the arm rotates at 150
r.p.m. in the anticlockwise direction about the centre of the gear A
which is fixed, determine the speed of gear B. If the gear A instead of
being fixed, makes 300 r.p.m. in the clockwise direction, what will be
the speed of gear B ?
Velocity Ratio of Epicyclic Gear Train
NUMERICAL PROBLEM
Given : TA = 36 ; TB = 45 ; NC = 150 r.p.m.
NUMERICAL PROBLEM
NUMERICAL PROBLEM
 NUMERICAL PROBLEM
Example 5. In a reverted epicyclic gear train, the arm A carries two
gears B and C and a compound gear D - E. The gear B meshes with
gear E and the gear C meshes with gear D. The number of teeth
on gears B, C and D are 75, 30 and 90 respectively. Find the speed
and direction of gear C when gear B is fixed and the arm A makes
100 r.p.m. clockwise.
NUMERICAL PROBLEM
NUMERICAL PROBLEM
Compound Epicyclic Gear
Train—Sun and Planet Gear
Compound Epicyclic Gear
Train—Sun and Planet Gear

The gear at the centre is called the sun gear and the gears
whose axes move are called planet gears.
Compound Epicyclic Gear
Train—Sun and Planet Gear
A compound epicyclic gear train is shown in Fig. It consists of two co-axial
shafts S1 and S2, an annulus gear A which is fixed, the compound gear (or
planet gear) B-C, the sun gear D and the arm H. The annulus gear has
internal teeth and the compound gear is carried by the arm and revolves
freely on a pin of the arm H. The sun gear is co-axial with the annulus gear
and the arm but independent of them. The annulus gear A meshes with the
gear B and the sun gear D meshes with the gear C. It may be noted that when
the annulus gear is fixed, the sun gear provides the drive and when the
sun gear is fixed, the annulus gear provides the drive. In both cases, the arm
acts as a follower.

Let TA , TB , TC , and TD be the teeth and NA, NB, NC and ND be the speeds for
the gears A, B, C and D respectively. A little consideration will show that when
the arm is fixed and the sun gear D is turned anticlockwise, then the
compound gear B-C and the annulus gear A will rotate in the clockwise
Compound Epicyclic Gear
Train—Sun and Planet Gear
NUMERICAL PROBLEM
Example 6. An epicyclic gear consists of three gears A, B and C as shown in Fig.
The gear A has 72 internal teeth and gear C has 32 external teeth. The gear B meshes
with both A and C and is carried on an arm EF which rotates about the centre of A at
18 r.p.m.. If the gear A is fixed, determine the speed of gears B and C.
NUMERICAL PROBLEM
By Algebraic method
ƟL/F =(ωL – ωA) /( ωF - ωA)
ƟL/F = (-TC/TB)×(TB/TA) = - 32/72 = (0 – 18)/(ωC-18)
NUMERICAL PROBLEM
Example 7. An epicyclic train of gears is arranged as shown in Fig. How many
revolutions does the arm, to which the pinions B and C are attached, make :
1. when A makes one revolution clockwise and D makes half a revolution
anticlockwise, and
2. when A makes one revolution clockwise and D is stationary ?
The number of teeth on the gears A and D are 40 and 90

Solve by positive revolution

NUMERICAL PROBLEM
NUMERICAL PROBLEM
Example 8. In an epicyclic gear of the ‘sun and planet’ type shown
in Fig. the pitch circle diameter of the internally toothed ring is to be
224 mm and the module 4 mm. When the ring D is stationary, the spider A,
which carries three planet wheels C of equal size, is to make one revolution in
the same sense as the sun wheel B for every five revolutions of the driving
spindle carrying the sun wheel B. Determine suitable numbers of teeth for all
the wheels.

Solution. Given : dD = 224 mm ; m = 4 mm ; NA = NB / 5

Let TB , TC and TD be the number of teeth on the sun wheel B,
NUMERICAL PROBLEM
BEVEL EPICYCLIC TRAINS [Humpage’s Reduction
Gear)
 Numerical problem
Example 9 :- Fig. shows a Humpage gear used in a lathe
headstock . The number of teeth on the wheels 2,3,4,5,6are
18, 54, 22, 44, 72 respectively. If the input shaft rotates at
200rpm ACW . What will be the speed of the output shaft.
When
i)When 7 is held stationary.
ii) If 7 is rotated at 30 rpm opposite to 2.
Ans:- 13.3 &- 14.67
 Numerical problem
Step Conditions of motion Arm 3 Gear Gear 4-5 Gear 6 Gear 7
no 2
1 Arm fixed gear 2rotated 0 +1 (T2/T4) -(T2/T4)(T5/T6) -(T2/T4)(T7/T4 )
through +1 revolution.
2 Arm fixed gear 2rotated 0 +x x(T2/T4) -x(T2/T4)(T5/T6) -x(T2/T4)(T7/T4)
through +x revolution.

3 Add +y revolution to all +y +y +y +y +y

elements .
4 Total motion y X+y Y+x(T2/T4) y-x(T2/T4)(T5/T6) y-x(T2/T4)(T7/T4)

For i) case . X+y =200 & y-x(T2/T4)(T7/T4) =0

 Differential gear of an automobile.
(a) to transmit motion from the engine shaft to the rear driving wheels, and
(b) to rotate the rear wheels at different speeds while the automobile is taking a turn.
As long as the automobile is running on a straight path, the rear wheels are driven
directly by the engine and speed of both the wheels is same. But when the automobile is
taking a turn, the outer wheel will run faster than the inner wheel because at that time
the outer rear wheel has to cover more distance than the inner rear wheel. This is
achieved by epicyclic gear train with bevel gears .
 Differential gear of an automobile
The bevel gear A (known as pinion) is keyed to the propeller shaft driven from
the engine shaft through universal coupling. This gear A drives the gear B
(known as crown gear) which rotates freely on the axle P. Two equal gears C and
D are mounted on two separate parts P and Q of the rear axles respectively. These
gears, in turn, mesh with equal pinions E and F which can rotate freely on the
spindle provided on the arm attached to gear B.
When the automobile runs on a straight path, the gears C and D must rotate
together. These gears are rotated through the spindle on the gear B. The gears E
and F do not rotate on the spindle. But when the automobile is taking a turn, the
inner rear wheel should have lesser speed than the outer rear wheel and due to
relative speed of the inner and outer gears D and C, the gears E and F start
rotating about the spindle axis and at the same time revolve about the axle axis.
Due to this epicyclic effect, the speed of the inner rear wheel decreases by a
certain amount and the speed of the outer rear wheel increases, by the same
amount. This may be well understood by drawing the table of motions.
This difficulty does not arise with the front wheels as they are greatly used for
steering purposes and are mounted on rigid axle.
Differential gear of an automobile

From the table, we see that when the gear B, which derives motion from the engine shaft,
rotates at y revolutions, then the speed of inner gear D (or the rear axle Q) is less than y
by x revolutions and the speed of the outer gear C (or the rear axle P) is greater than y by
x revolutions. In other words, the two parts of the rear axle and thus the two wheels
rotate at two different speeds. We also see from the table that the speed of gear B is the
mean of speeds of the gears C and D.
 Torques in Epicyclic Gear
Trains

Since its works against the

Resisting load

If ω1, ω2 and ω3 are the angular speeds of the driving, driven and fixed members
respectively, and the friction be neglected, then the net kinetic energy dissipated by
the gear train must be zero, i.e. T1.ω1 + T2.ω2 + T3.ω3 = 0
 Torques in Epicyclic Gear
Trains

When input shaft (or driving shaft) and output shaft (or driven
shaft) rotate in the same direction, then the input and output
torques will be in opposite directions. Similarly, when the input
and output shafts rotate in opposite directions, then the input and
output torques will be in the same direction.
Thank You
•Name:-Prof. Manish Thakur
Department:- Mechanical Engg.
Email: [Link]@[Link]