VAREHD 10, Suceava, 20-21 octombrie 2000 161-172

The Radial and Axial Stiffnesses of

Spherical Roller Bearing Systems
Rezmires D., Bercea I., Cretu Sp., Olaru D
Technical University “Gh Asachi” of Iasi, Deparment of Machine Design & Tribology, Bvd
D. Mangeron, 61-63, 6600 Iasi, Romania

Abstract
Many technical application which use the spherical roller bearings and spherical roller bearing
systems works with high external load and moderate speeds. In that paper are presented two
theoretical cases of rigidity matrix analisys: for the static case and for the cvasistatic case
respectively. Equations and their derivatives for finding the radial and axial stiffness of a
spherical roller bearings and also for spherical roller bearings systems assuming a rigid shaft
and housing, are given for any case of combined radial and axial load. The stiffnesses of two
spherical roller bearings was investigate theoretically for an applied load, distance between
bearing cenres, size of bearings and combination of bearings.

1. Introduction

Spherical roller bearings are optimally suited for applications that require bearings with a high
degree of angular aligning capability and a very high load carrying capacity. The double row
spherical roller bearing can carry combined radial and thrust load, but can not support
moment loading. The stiffness matrix have include the nonlinearly of the load-deformation
relationship of the roller-race contact, and the contact type evolution under external load. The
proposed model can be applied for the C type of individual SRB and also for SRB system. In
this paper the spherical roller bearing systems was abbreviate as SSRB. The analisys was
made considering the point contact case. It is considered that high stiffness of each part
composing a system is generally indispensable for high precision of sytem, particularly the
deflection of bearings-shaft system consisting of shaft and bearing have direct upon the
working precision [1].

2. Coordinate systems attached to SRB system

The load analysis and stiffnes matrix was made by keeping the outer race of the bearings
fixed in space and letting the inner rings to be displaced under external load. When the
external load is applied, both the inner rings and any rolling element will be displaced. For
any individual bearing is attached an index noted with “idx”. The “idx” index is “1 or 2” were
“idx=1” represent the first SRB and “idx=2” represent the second SRB. The bearing row is
specified by the index r. Thus the index r = 1,2 denote the bearing row 1 and 2, respectively.
For any SRB denoted with “idx” index, to perform the analysis, the following coordinate
systems were used: an inertial system OeXYZ (have the origin in the geometrical centre of the
outer race denoted by Oe), and a rolling element frame OXrYrZr. The relation between
inertial system and centre of mass of rolling element is give with {rM(r,j,}idx vector. The inner
ring of “idx” SRB have five degrees of freedom: it can be displaced in the axial direction
along OeX axis and in radial directions OeY, OeZ, respectively and can be also misalign
around the radial axis OeY and OeZ. These directions are illustrated in Figure. 1.
 Z2 ψ=0 ∆ψ=0 Z1 Z2 ψ=0 ∆ψ=0 Z1
j=1 idx=1 j=1 idx=2
Outer ring Outer ring

X2 X2

X1 X1
r=2 Z r=1 r=2 Z r=1
α α
rM(2,j) rM(1,j) rM(2,j) rM(1,j)
Y Y
Bearing X Shaft initial axis Bearing X
Oe axis Oe axis
L
.

Inner ring Inner ring

Roller element Roller element

Lw Lw
Dw

Dw
Shaft

Fig.1. The co-ordinate system attached to SRB system

To limit the complexity of the analysis, the following major assumptions are made [2]:
• the bearing is mounted on a sturdy shafts and in a rigid housing;
• the pressure distributions at the contacts have been assumed according to Hertzian theory
• the surfaces in contact have ideal shapes.
• the bearing components are considered to be rigid excepting the local contact zones;

3. The Static Equilibrium Equations and Stiffnesses for SSRB

The analysis for the SRB system takes into account the situations presented in Fig 2 and Fig.
3 respectively.
SRB 1 SRB 2
Frz

Fa

F
ry
a
L

F rz1 Frz2

Fa1 Fa2

Fry1 F
ry2

Fig.2. The reactions in a simple two-bearing-shaft system

 SRB 1 SRB 2
Frz

Fa

F
ry

a
L

F rz1 Frz2

Fa1 Fa2

Fry1 Fry2

Fig.3. The reactions into a simple two-bearing shaft system, overhung load

Generally, the shaft is relatively rigid and bearing misalignment due to the shaft is
inconsequential magnitude. The load distribution on “idx” SRB can be obtained if knows the
effect of external load on any SRB. The reactions acting along the Y and Z axis can be
determined from the simple equations of static equilibrium. The reaction along the X axis is a
function of the axial load distribution between the “idx” SRB, which respect the sum of effect.
Hence, the moment equilibrium equations by “idx=1” SRB and the sum of forces acting along
the Y and Z axis are:
• for the case presented in Fig 2 the simple equations of static equilibrium are:
Frz1+Frz2=Frz Frz2.L-Frz.a=0
Fry1+Fry2=Fry Fry2.L-Fry.a=0 (1)
Fa1+Fa2=Fa
• for the case presented in Fig 3 the simple equations of static equilibrium are:
Frz1+Frz2=Frz Frz2.(L-a)-Frz.L=0
Fry1+Fry2=Fry Fry2.(L-a)-Fry.L=0 (2)
Fa1+Fa2=Fa
The external load acting in the two-bearing-shaft system produce a misalignment effect on the
“idx” SRB, which modify the contact angle and also the load distribution in the “idx” SRB.
Thus, the misalignment angle for “idx” SRB are given by:
γrz,idx = Frz/(6.E.Iz).f(a,L)idx
γry,idx = Fry/(6.E.Iz).f(a,L)idx (3)

3.1. The load and contact angle calculus on the (idx,r,j) roller element for
the point contact case
Because in the two-spherical roller bearing it is possible to obtain different contact type result
that Kech factor for any roller element is a function of a contact type. If the semimajor axis of
elliptical contact is greater like lw/2 result that Kech is give by line contact type and contact
angle is equal with nominal contact angle else Kech is give by point contact type and contact
angle is different by initial contact angle.
 n
 
 
 1 
K ech ,idx =  1 1  , for (r,j,idx) parameter (4)
 1  n  1  n

  Ki  +  Ko  
 
As a criterion to select the contact type is used the following relation:
 p (po int contact ), if a i (r, j) < l w / 2
contact type =  (5)
l (linecontact ), if a i (r, j) > l w / 2
Because in the static load case the inner and outer contact angle are equal for any individual
roller element but different for every roller element, result that the total deformation acting on
the (r,j)idx element can be written:

[sgn(r, idx).Lie.sin(α) + δx]2 +

δ(r, j)idx = − Lie (6)
[Lie.cos(α) + δzidx.cos(ψ) + δyidx.sin(ψ)]2
The contact angle relation for point contact is:
 sgn(r, idx).Lie. sin(α) + δx 
αi (r, j)idx = arctan  (7)
 Lie . cos(α) + δz idx . cos(ψ ) + δy idx . sin(ψ ) 
were:
loe=Ro-R-Sd/2,
loi=Ri-R-Sd/2
Lie=loi+loe
Sd represents the diametric clearance of the bearing
α(r,j)idx =α0,idx+sgn(r,idx).(γy,idx.cos(ψ(r,j,idx))+ γz,idx.sin(ψ(r,j,idx)).
 1 r =1
sgn( r , idx) =  ,
− 1 r = 2
 ψ ( r , j, idx) for r = 1
ψ ( r , j, idx) = 
ψ ( r , j, idx) + ∆ψ idx for r = 2

3.2. SSRB equilibrium equations

The equilibrium equations of the SSRB are represented by next system:

Frz1 = ∑ ∑ Q1( r , j) cos(α i ( r , j)) cos( ψ ( r , j))

r j

Frz 2 = ∑ ∑ Q2( r , j) cos(α i ( r , j)) cos( ψ ( r , j))

r j

Fry1 = ∑ ∑ Q1( r , j) cos(α i ( r , j)).sin( ψ ( r , j))

r j

Fry 2 = ∑ ∑ Q2( r , j) cos(α i ( r , j)).sin( ψ ( r , j))

r j

Fa idx =1 = ∑∑ Q1(r, j) sin(α i (r, j))sng (r, idx ) (8)

r j

Fa idx = 2 = ∑∑ Q2(r, j) sin(α i (r, j))sng (r, idx )

r j

Fa=Fa1+Fa2
where: Q1,2(r,j) it is the load acting on (r,j) roller element in the “idx” SRB.
3.3. Rigitity matrix of the “idx” SRB for the static case
The individual stiffness of “idx” SRB is given by:
 ∂Fa idx ∂Fa idx ∂Fa idx 
 
 ∂δx ∂δy idx ∂δz idx 
∂Fry idx ∂Fry idx ∂Fry idx 
M[idx ] =  , (9)
 ∂δx ∂δy idx ∂δz idx 
 ∂Frz ∂Frz idx ∂Frz idx 
 idx

 ∂δx ∂δy idx ∂δz idx 

with
∂Fa idx ∂[K ech .δ(r, j) idx
n
. sin(α i ( r, j) idx )]
= ∑∑ ,
∂δx , y idx , z idx r j ∂δx , y idx , z idx
∂Fryidx ∂[K ech .δ(r, j) idx
n
. cos(α i (r, j)idx ). sin(ψ (r , j, idx ))]
= ∑∑ ,
∂δx, y idx , z idx r j ∂δx, yidx , z idx
∂Frz idx ∂[K ech .δ(r, j)idx
n
. cos(α i (r, j)idx ). cos(ψ(r, j, idx ))]
= ∑∑
∂δx , y idx , z idx r j ∂δx , y idx , z idx
where: δx, δyidx, δzidx represent the inner ring displacement for “idx” SRB.

3.4. Analytical relation of stiffness for the point contact in the static case
Using Eq 6 and Eq. 7 the following notations was made:
X = sgn( r , idx ).Lie. sin( α ) + δx ,
Z = Lie. cos(α) + δzidx . cos(ψ) + δyidx . sin(ψ) ,
2
X
T = 1+  
Z
The stiffnesses components for “idx” SRB are:

The Faidx derivates as function of δx, δyidx, δzidx are:

np −1
∂Fa idx  δ(r, j) idx X 2 .np δ(r, j) idx
np
δ(r, j) idx
np
.X 2 
= K ech. ∑∑  . + − ,
∂δx r j  δ( r , j) idx + L Z.T Z.T Z3 .T 3 
∂Fa idx  δ(r, j)idx np −1
X.np δ(r, j)idx
np
.X δ(r, j)idx
np
.X 3  
= K ech. ∑∑  . − + . sin( ψ ( r , j, idx )) 
∂δy idx r j  δ( r , j) idx + L T Z 2 .T Z 4 .T 3  
∂Fa idx  δ(r, j)idx np −1
X.np δ(r, j) idx
np
.X δ(r, j) idx
np
.X 3  
= K ech. ∑∑  . − + . cos( ψ ( r , j, idx )) 
∂δz idx r j  δ( r , j) idx + L T Z 2 .T Z 4 .T 3  
The Fryidx derivates as function of δx, δyidx, δzidx are:
∂Fry idx  δ(r, j) idx np −1
X.np δ(r, j)idx
np
.X  
= K ech. ∑∑  . − . sin(ψ (r, j, idx )) ,
∂δx r j  δ( r , j) idx + L T 2
Z .T 3
 
∂Fry idx  δ(r, j) idx np −1
Z.np δ(r, j) idx
np
.X 2  
= K ech. ∑∑  . + . sin 2 (ψ (r, j, idx )) ,
∂δy idx r j  δ( r , j) idx + L T 3
Z .T 3
 
∂Fry idx  δ(r, j) idx np −1
Z.np δ(r, j)idx
np
.X 2  sin(2.ψ (r, j, idx )) 
= K ech. ∑∑  . + . 
∂δz idx r j  δ( r , j) idx + L T Z3 .T 3  2 
The Frzidx derivates as function of δx, δyidx, δzidx are:
∂Frz idx  δ(r, j)idx np −1
X.np δ(r, j) idx
np
.X  
= K ech. ∑∑  . − . cos(ψ(r, j, idx )) ,
∂δx r j  δ( r , j) idx + L T 2
Z .T 3
 
∂Frz idx  δ(r, j)idx np −1
Z.np δ(r, j) idx
np
.X 2  sin( 2.ψ (r, j, idx )) 
= K ech. ∑∑  . + . ,
∂δy idx r j  δ( r , j) idx + L T Z3 .T 3  2 
∂Frz idx  δ(r, j)idx np −1
Z.np δ(r, j) idx
np
.X 2  
= K ech. ∑∑  . + . cos 2 (ψ (r, j, idx ))
∂δz idx r j  δ( r , j) idx + L T 3
Z .T 3
 

4. The centrifugal effect on the rigidity matrix forming

The equilibrium equations of the (r,j,idx) roller element are:
EFCA(r,j)=Qi.sin(αi)-Qo.sin(αo)-[Fmi.cos(αi)-Fmo.cos(αo)]=0 (10a)
EFCR(r,j)=Qi.cos(αi)-Qo.sos(αo)+[Fmi.sin(αi)-Fmo.sin(αo)]+Fc=0 (10b)
Where, initial:
Fmi=2.(1-λ).Mg/Dw (11a)
Fmo=2.λ.Mg/Dw (11b)
To=µ.Qo (11c)
Ti=µ.Qi (11d)
Mg - the gyroscopic moment
λ - non dimensional parameter given as function of the "roller guiding criteria"
With the following observations :
1. Ffo and Ffi act like blocking forces
2. If Fmi>Ffi then Fmi=Fmi-Ti else Fmi=0 (12a)
3. If Fmo>Ffo then Fmo=Fmo-To else Fmo=0 (12b)
In these conditions the rigidity matrix for (r,j,idx) element became:
 ∂EFCA ∂EFCA 
 ∂uz 
MFC(r, j, idx ) =  ∂ux
∂EFCR ∂EFCA 
(13)
 
 ∂ux ∂uz 

For a simple reading and writing of MFC(r,j,idx) components, the following notations were
introduced:
dto - contact deformation for static load case at outer contact level; dto=dto(r,j,idx)
dti - contact deformation for static load case at inner contact level; dti=dti(r,j,idx)
αs - contact angle in the static case; αs=αs(r,j,idx)

ZO=(loe+dto).cos(αs)+uz (14a)
XO=(loe+dto).sin(αs)+ux (14b)
ZI=(loi+dti).cos(αs)-uz (14c)
XI=(loi+dti).sin(αs)-ux (14d)
rri=(ZI2+XI2)0.5-loi
rro=(ZO2+XO2)0.5-loe
Tqi=Ki.rri1.5 Tqo=Ko.rro1.5
2
Tdi=1+(XI/ZI) Tdo=1+(XO/ZO)2

With these notations, the results are:

∂EFCAi  − 1.5.XI 2 1 XI 2 
= Tqi. − + 3 1.5 
∂ux  rri.(rri + loi).ZI. Tdi ZI. Tdi ZI .Tdi 
∂EFCAo  1.5.XO 2 1 XO 2 
= Tqo. + − 1.5 
∂ux  rro.(rro + loe).Zo. Tdo Zo. Tdo ZO .Tdo 
3

∂EFCA ∂EFCAi ∂EFCAo

= − (15)
∂ux ∂ux ∂ux

∂EFCAi  − 1.5.XI.ZI XI XI 3 
= Tqi. − 2 + 4 1.5 
∂uz  rri.(rri + loi).ZI. Tdi ZI . Tdi ZI .Tdi 
∂EFCAo  1.5.XO.ZO XO XO 3 
= Tqo. + + 1.5 
∂uz  rro.(rro + loe).ZO. Tdi ZO . Tdo ZO .Tdo 
2 4

∂EFCA ∂EFCAi ∂EFCAo

= − (16)
∂uz ∂uz ∂uz

∂EFCRi  − 1.5.XI XI 
= Tqi. + 2 1.5 
∂ux  rri.(rri + loi). Tdi ZI .Tdi 
∂EFCRo  1.5.XO XO 
= Tqo. − 1.5 
∂ux  rro.(rro + loe). Tdo ZO .Tdo 
2

∂EFCR ∂EFCRi ∂EFCRo

= − (17)
∂ux ∂ux ∂ux
∂EFCRi  − 1.5.ZI XI 2 
= Tqi. − 3 1.5 
∂uz  rri.(rri + loi). Tdi ZI .Tdi 
∂EFCRo  1.5.ZO XO 2 
= Tqo. + 1.5 
∂uz  rro.(rro + loe). Tdo ZO .Tdo 
3

∂EFCR ∂EFCRi ∂EFCRo

= − (18)
∂uz ∂uz ∂uz

5. The rigidity matrix on the SRBB system considering centrifugal effects

If the anterior elements are known, then the "idx" SRB rigidity matrix can be written as a
function of (r,j,idx) rigidity matrix of the roller element components.

 ∂Fa idx ∂Fa idx ∂Fa idx 

 
 ∂δx ∂δy idx ∂δz idx 
∂Fry idx ∂Fry idx ∂Fry idx 
M[idx ] =  , with (19)
 ∂δx ∂δy idx ∂δz idx 
 ∂Frz ∂Frz idx ∂Frz idx 
 idx

 ∂δx ∂δy idx ∂δz idx 

∂Fa idx ∂[K i .δ(r, j, ux , uz) idx

n
. sin(α i (r, j, ux , uz) idx )]
= ∑∑ ,
∂δx , y idx , z idx r j ∂δx , y idx , z idx
 ∂Fry idx ∂[K i .δ(r, j, ux , uz) idx
n
. cos(α i (r, j, ux , uz) idx ). sin(ψ (r, j, idx ))]
= ∑∑
∂δx , y idx , z idx r j ∂δx , y idx , z idx
∂Frz idx ∂[K i .δ(r, j, ux , uz) idx
n
. cos(α i (r, j, ux , uz) idx ). cos(ψ (r, j, idx ))]
= ∑∑
∂δx , y idx , z idx r j ∂δx , y idx , z idx
where:
• δx, δyidx, δzidx represent the inner ring displacements for “idx” SRB.
• ux, uz: are the (r,j,idx) roller centre of mass displacement
• δi(r,j,ux,uz,idx) represents the local contact deformation at the inner ring level for the
(r,j,idx) ball
• αi(r,j,ux,uz,idx) represents the inner contact angle of the roller- inner ring contact
To solve the general system composed of equations 8-19 the Newton-Raphson [3] algorithm
combined with the half interval method was applied.

6. Numeric results and discussions

To exemplify the algorithm some test does:
In Fig. 4 is presented the radial displacement in Z direction for “idx=1” SRB as function of
application point for 22212C SRB system presented in Fig.2..

The radial displacement of "idx=1" SRB as function of application

point of external load Fz=10000 [N], Fy=1000 [N], L=600 [mm]

0.01

0.009
Radial displacement in Z direction [mm]

0.008

0.007

0.006

0.005 Fa=100 [N]

Fa=1000 [N]
0.004
Fa=2000 [N]
0.003 Fa=3000 [N]
0.002 Fa=4000 [N]
Fa=5000 [N]
0.001
Fa=6000 [N]
0
100 200 300 400 500
Aplication point of external load, a, [m m ]

Fig 4. The radial displacement in Z direction for “idx=1” SRB on the 22212C-22212C SRB
system as function of external load,

In Fig. 5 is presented the axial displacement as function of application point for 22212C SRB
system, presented in figure 3.
 The axial displacement as function of aplication point of external
load with: L=500 [mm], Frz=5000 [N], Fry=1000 [N]
0.04

0.035
Axial displacement [mm]

0.03

0.025

0.02

0.015
a=100
0.01
a=200
0.005

0
100 1000 2000 3000 4000
Axial force, [N]

Fig 5. The axial displacement on the 22212C-22212C SRB system as function of external
load into case of a overhung load

In Fig.6 is presented the axial displacement of shaft as function of external load and the
application point position, for an 22212C-22308C SRB system

Axial displacement as function of application point

on 22212C-22308C SRB system,
L=600 [mm], Frz=10000 [N], Fry=1000 [N]

0.045

0.04

0.035
Axial displacement, [mm]

0.03

0.025

0.02 a=100 [mm]

a=300 [mm]
0.015 a=500 [mm]

0.01

0.005

0
100 1000 5000 7000
Axial force Fa, [N]

Fig 6. The axial displacement on the 22212C-22308C SRB system as function of external
force

In Table. 1 and Table 2 respectivelly , for a system composed by two 22308 C SRB for two
different cases the rigidity matrix was presented. In the same time the the “idx” inner ding
displacement was listed.
Table.1. Rigidity matrix and “idx” inner ring displacement for an SSRB 22308C, externally
loaded with: Fx=300 [N], Fz=4000 [N], Fy=400 [N], ωi=5000 [rpm], a=200 [mm]; L=500
[mm]
idx=1 idx=2
δx[mm] δz1[mm] δy1[mm] δx[mm] δz2[mm] δy2[mm]
0.00225 0.0055 0.0005 0.00225 0.0041 0.0004
 62263 17431 − 2697   71754 15604 − 3894 
M[1] =  17431 562017 19562  M[2] =  15604 645445 22860 
 
− 2697 19562 389010 − 3894 22860 444583

Table.2. Rigidity matrix and “idx” inner ring displacement for an SSRB 22308C, externally
loaded with: Fx=200 [N], Fz=3000 [N], Fy=500 [N], ωi=4000 [rpm]a=500 [mm]; L=700
[mm]
idx=1 idx=2
δx[mm] δz1[mm] δy1[mm] δx[mm] δz2[mm] δy2[mm]
0.00140 0.0080 0.0013 0.00140 -0.0034 -0.00057
86162 7917 701   56478 − 10861 − 6210 
M[1] =  7917 778460 46708  M[2] = − 10861 511807 24897 
 

 701 46708 516539  − 6210 24897 354816

Nomenclature αi(r,j)idx - final contact angle [deg]

SRB - spherical roller bearing
SSRB – spherical roller bearing system
idx - index to SRB (idx=1,2)
r - row number 1 or 2 (r=1,2) on idx SRB
Z - number of rollers on "r" row
j - index of roller j=1..Z
p - point contact
l - line contact
a, L - length [mm]
loi, loe, Lie - distances [mm]
R - roller radius [mm]
Ri - inner ring curvature radius [mm]
Ro - outer raceway curvature radius [mm]
lw - roller length [mm]
E - Young modulus [N/mm2]
Fa, Frz, Rry - external load [N]
Faidx, Fryidx, Frzidx - reactions on "idx" SRB
Kech, Ki , Ko - equivalent, inner and outer
rigidity respectively [N/mmn]
n - index of contact type; n=1.5 for point
contact; n=1.11 for line contact type
Qidx(r,j) - load distribution of (r,j) roller in
"idx" SRB
a(r,j) - semimajor axis [mm]
α - initial contact angle [deg]
δ(r,j)idx - total deformation of contact
between (r,j)idx roller and raceway [mm]
δx, δzidx, δyidx - displacement of inner ring
on "idx" SRB [mm]
γrzidx, γridx - tilt angle on "idx" SRB
References
1. Kunio Y., Jujiro K., Tetsuzo H., - The
stiffness of the rolling bearing-shaft
system for static loading – In the case of
two tapered roller bearings-shaft system,
Journal of JSLE International Edition,
p.87-92
2. Bercea I., Nelias D, Cretu Sp. – Optimum
initial axial compression due to preload in
an arrangement of two tapered roller
bearings. Part 1., Proc Inst Mech Engrs
vol 214, Part J, p. 125-133
3. Titus Beu, - Analiza numerica in Turbo
Pascal, Cluj Napoca, Microinformatica,
1992