4.

Design Spline-Shaft Strength

The spline shaft of the Ball Spline is a compound shaft capable of receiving a radial load and torque. When the load and torque are extraordinary, the spline-shaft strength must be taken into account.

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4.1 Spline Shaft Subjected to a Bending Load

For Ball Spline spline shafts subjected to a bending load, determine the optimum spline-shaft diameter using the following equation: M ZorZ M ccccccc (1) M: Bending moment

where M: maximum bending moment on the shaft (Nmm) : shaft permissible bending stress (=98 N/mm2) Z: shaft section modulus (mm3) See Tables 3 and 4.

4.2 Spline Shaft Subjected to Torsion

For spline shafts of the Ball Spline which are subjected to torsional load, determine the optimum spline-shaft diameter using the following equation: T ZPorZP a T a cccccc (2) T: Torsion moment

where T: maximum torsion moment (Nmm) a: shaft permissible torsional stress (= 49 N/mm2) Zp: shaft polar section modulus (mm3) See Tables 3 and 4.

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4.3 Spline Shaft Subjected to Both Torsion and a Bending Load Simultaneously
For Ball Spline spline shafts subjected to the simultaneous application of torsion and bending loads, calculate two separate spline-shaft diameters, one for the equivalent bending moment (Me) and the other for the equivalent torsion moment (Te). Take whichever is greater as the spline-shaft diameter. Equivalent bending moment: M M T M T 2 Me 11 2 2 M cccccccccccccccccccc (3) Me = Z Equivalent torsion moment: Te T 2 2 2 M T M 1 M (4) Te = a Zp
2 2

cccccccccccccccccccc

4.4 Rigidity of the Spline Shaft

The rigidity of the spline shaft is expressed as a torsion angle per meter of shaft length. This should be limited to a maximum of approximately 1/4. TL 57.3 GIP Shaft rigidity = ccccccccccc (5)

torsion angle 1 = unit length R 4

where : torsion angle () L: shaft length (mm) G: transverse elastic modulus (= 7.9104 N/mm2) r: unit length (1000 mm) Ip: polar moment of inertia (mm4) See Tables 3 and 4.

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4.5 Deflection and Deflection Angle of the Spline Shaft

These should be calculated using equations satisfying the relevant operating conditions. Tables 1 and 2 present the operating conditions and the corresponding equations. Tables 3 and 4 present the cross-section factors (Z) and cross-section secondary moments (I). Through the use of the Z and I values given in these tables, the strength and degree of displacement (deflection) of each Ball Spline model in general use can be determined.

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Table 1 Deflection and Deflection-Angle Equation

Support method

Specification conditions

Deflection equation

Deflection-angle equation

Both ends free

P R max 48EI

i1 0 i2 P 16EI
2

Both ends fastened

max

P R 192EI

i1 0 i2 0

Both ends free

Uniform load 5p R max 384EI

4

i2

p 24EI

Both ends fastened

Uniform load max

p R 384EI

i2 0

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Table 2 Deflection and Deflection-Angle Equation

Support method

Specification conditions

Deflection equation

Deflection-angle equation

One end free

P R max 3EI

P 2EI i2 0 i1

One end fastened

Uniform load max p R 8EI

4

i1

p 6EI

i2 0

Both ends free

max

3 M0R 216EI

M i1 0 12EI M i2 0 24EI

Both ends fastened

M0R max 216EI

M i1 0 16EI i2 0

max: Maximum deflection (mm) i1: Deflection angle at a loading point (deg) i2: Deflection angle at a supporting point (deg) M0: Moment (Nmm) P: Concentrated load (N)

p: Uniform load (N/mm) r: Span (mm) I: Geometrical moment of inertia (mm4) E: Longitudinal elastic modulus (2.06x105 N/mm2)

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4.6 Critical Speed of Spline Shaft

With Ball Spline spline shafts used for power transmission, as the shaft speed increases, the frequency of vibration nears the proper value for the shaft, eventually causing resonance making motion impossible. The maximum shaft speed must therefore be set at a level that does not cause resonance. If your conditions of use make it necessary for the shaft speed to exceed or approach the resonance point, the splineshaft diameter must be reconsidered. The critical speed of the spline shaft is determined using the equation given below. The obtained value should be multiplied by a safety factor of 0.8. Fastened Free

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Fastened Free

Permissible rotational frequency

602 E10 Nc 2 0.8 2 R b A
3

Supported ccc (6)

Supported

where NC:critical shaft speed (min-1) Rb: center distance (mm) E: Youngs modulus (2.06105 N/mm2) I: minimum geometrical moment of inertia of the shaft (mm4) 4 I d 1 64 : density (d1: minor diameter, mm)

Supported Supported

(specific gravity; 7.8510-6 kg/mm3) Fastened (d1: minor diameter, mm) (mm2) Supported

2 A d 1 4

A: spline-shaft cross-sectional area : installation-method-dependent factor q Fastened/free: w Supported/supported: e Fastened/supported: r Fastened/fastened: = 1.875 = 3.142 = 3.927 = 4.730

Fastened Supported

Fastened

Fastened

Fastened Fastened

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4.7 Spline-Shaft Cross-Sectional Characteristics

4.7.1 Spline-Shaft Cross-Sectional Characteristics of Ball Spline Type LBS
Table 3
Nominal shaft diameter LBS 15 LBS 20 LBS 25 LBS 30 LBS 40 LBS 50 LBS 60 LBS 70 LBS 85 LBS 100 LBS 120 LBS 150
Solid shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft Solid shaft Hollow shaft

I 1.2710 3.8210 3.7910 9.6210 9.5010 1.8710 1.7810 6.1710 5.7110 1.4910 1.3410 3.1710 2.7710 5.7710 5.0710 1.3310 1.1110 2.6910 2.1810 5.9510 5.2810 1.6110 1.4010 (mm4) (mm3)
3 3 3 3 3 4 4 4 4 5 5 5 5 5 5 6 6 6 6 6 6 7 7

Z 2.0010
2 2 2 2 2 3 3 3 3 3 3 4 4 4 4 4 4 4 4 5 5 5 5

IP 2.5510 7.7210 7.5910 1.9410 1.9010 3.7710 3.5710 1.2510 1.1410 3.0110 2.6910 6.3310 5.5410 1.1610 1.0110 2.6210 2.2210 5.3310 4.3710 1.1810 1.0610 3.2010 2.7910
3 3 3 4 4 4 4 5 5 5 5 5 5 6 6 6 6 6 6 7 7 7 7

ZP 4.0310 9.2610 9.1110 1.8510 1.8110 3.0410 2.8810 7.4610 6.8410 1.4510 1.2910 2.5310 2.2110 3.9910 3.4910 7.3210 6.2010 1.2510 1.0210 2.2610 2.0210 4.7610 4.1610 (mm4) (mm3)
2 2 2 3 3 3 3 3 3 4 4 4 4 4 4 4 4 5 5 5 5 5 5

4.5810 4.5610 9.1410 9.0510 1.5010 1.4410 3.6910 3.4210 7.1510 6.4610 1.2610 1.1110 1.9710 1.7410 3.6910 3.1010 6.2510 5.1010 1.1310 1.0110 2.4010 2.0810

I: Geometrical moment of inertia Z: Section modulus

Ip: Polar moment of inertia Zp: Polar section modulus

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4.7.2 Spline-Shaft Cross-Sectional Characteristics of Ball Spline Type LT

Table 4
Nominal shaft diameter LT LT LT LT 4 5 6 8
Solid shaft Solid shaft Solid shaft
Hollow shaft

I 11.39 27.88 57.80

Z 5.84 11.43 19.70 18.90

2 2 2 2 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 5 5 4 5 5 5 5 5 6 6 6 6

IP 22.78 55.76 1.1910 1.1610 3.8110 3.7410 9.3210 9.0910

2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 3 4 4 4 4 4 4 2 2 2 2 2 2 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 6 6 6 6 6 6

ZP 11.68 22.85 40.50 39.20 96.60 94.60 1.8910 1.8410 4.1910 4.0910 7.8010 7.5110 5.9910 1.5310 1.4310 1.1510 2.9910 2.8310 2.1610 5.1810 4.7410 3.8910 6.2710 5.6110 4.5310 1.2110 1.1010 8.6410 2.4010 2.2410 1.7310 4.1410 3.7910 9.8210 7.9510 1.9210 1.5110 (mm4) (mm3)
2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 4 4 3 4 4 4 4 4 4 4 5 5

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Type K Type K Type K Type K Type K

55.87 1.8610 1.8110 4.5410 4.4110 1.3210 1.2910 3.0910 2.9710 2.3710 7.6110 7.1210 5.7210 1.8610 1.7510 1.3410 3.8610 3.5310 2.9010 5.0110 4.5010 3.6410 1.2210 1.1010 8.7010 2.9710 2.7810 2.1410 6.1610 5.5610 1.9510 1.5810 4.7810 3.7610 (mm4) (mm3)

Solid shaft
Hollow shaft

47.40 46.00 92.60 89.50 2.0910 2.0010 3.9010 3.7510 2.9910 7.6710 7.1810 5.7710 1.5010 1.4110 1.0810 2.5910 2.3710 1.9510 3.1510 2.8310 2.2910 6.1410 5.5510 4.3910 1.2010 1.1210 8.6310 2.0710 1.9010 4.9110 3.9710 9.6210 7.5710

LT 10 LT 13

Solid shaft
Hollow shaft

Solid shaft
Hollow shaft

2.7010 2.6310 6.1810 5.9510 4.7410 1.5210 1.4210 1.1410 3.7110 3.5110 2.6810 7.7110 7.0710 5.8010 9.9010 8.8710 7.1510 2.4010 2.1710 1.7110 5.9410 5.5610 4.2910 1.2310 1.1310 3.9010 3.1510 9.5610 7.5210

Solid shaft

LT 16
Hollow shaft

Type N Type K

Solid shaft

LT 20
Hollow shaft

Type N Type K

Solid shaft

LT 25
Hollow shaft

Type N Type K

Solid shaft

LT 30
Hollow shaft

Type N Type K

Solid shaft

LT 32
Hollow shaft

Type N Type K

Solid shaft

LT 40
Hollow shaft

Type N Type K

Solid shaft

LT 50
Hollow shaft

Type N Type K Type K Type K

LT 60 LT 80 LT 100

Solid shaft
Hollow shaft

Solid shaft
Hollow shaft

Solid shaft
Hollow shaft

I: Geometrical moment of inertia Z: Section modulus

Ip: Polar moment of inertia Zp: Polar section modulus

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