35thINTERNATIoNAL

ON PRODUCTION
coNFERENcE i
ENGINEERING

FACULTY
OFMECHANICAT
AND
CIVITENGINEERING
IN KRAUEVO
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CIP - Karuon*aqlrja y n)ftaKalllrju

Cp6uje.Eeorpan
Hapoara616.naorcxa

TI
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INTERNATIONAI., (. onferenceof Production B

Engeneerirg(35 ; l2{)lI ; Kopaodk)
/ 35th Inrcmctional
Pr.)ceedjDgs
ConfereDceofProdu( tion Engeneering- IICPE
20131,Kraljevo-Nopnonil,25-28September
2013; forganied hy I laculty ofMechanical
and civil EngiDccring in Kraljevo. - Kra.ljevo
andCivil Engir:eering
: !acullyof Mechsl|rcal
in Kroljevo,2011(VmjadkaBrmja: Satcip).
- 370 str. : ilu$tr.; l0 cm

'lekst -Tj,2i 100.-

StafipanJ\('\tubaaDo.
str. I: Ovenielt / Zoron Petrovid.- str.
I1-III: WelcomcA{hess/ Miomir Vukidevid.-
llibliogra!a tn sl'akirad.

tsBN 978-86-82631-69-9
l. Facultyof Mer;badcalandCivil
Engireering (KlnIjevo)
a) Ilpor.r3BoAnoMornxFcrBo- 36opu!tq[ b)
Mgrarli - O6p[qa - 36opHxrlnc) CrcreM!
aymMaTcroryrrpaBrBa*a- 36opuuqr d)
y[paBJEaH,e
(ranqrerou - 36opurqlt
coBISS.Sl{.lD 204080908
 35d L\TI,RN,\TIONA], CONF'ERXNTCE
ON PRODTJCTION trNGINEERING
25 - 2S Selternbcr2013
Kraljevo- Kofdonik
!aculty ofMcchanicalandCivil Eiglneeringin Kraljevo
'"w
DYNAMIC BETI,\VIOUR OF C CONC!]PT PLANETARY REDUCER

\lilo{ \l \ | EJI/. I.iilirn,r \ | LJu\ lC. \'lirLo Bl \(.OJFVl( . \.nrd \'l \lUq\ovla
l:aculry ofEnsile€ins llniversity ofKFsqjev|c, Scstre Jdjii 6, Krrgujevac. Se$ia
.Drni reijc(rks. ac.ri, velj o viclj ilja@yahoo.co.rk, mnkob@ke.ac.s, n esam@-rks.ac.N

/l|)sbatLt: Appcnranu aJ \ib ttit l.t hds o ncqatire irtlhE|ce ar pldDetary tdrcel opdrnkrt. yibtutiors ihich npu.ar
ot tlle !tutft hatu tr. I o^1Ll|i.t. Detennrtotiori ol the nleclntis"t afribtatian arl ih.it t&lltcrion ta an ac.ttt.hlr
levl, dtc issue.sloto l.t ofnlol?tn trscutLt t.ldel to plonetary reducers.
I'ftsent..] in thit toter is d r.\' desig :;ohtiot a.f d pklh.tdti; C .oft.pt rclrcet. ,l.t.tulrig to knowl dnnu i.
,wlets, li,r thi' rrluhr redrci. on otisinal dyndtnic thodel is lcr.lop.d. Thr.tisi,al r1!hdtnic ,ndel l4ttih's
$rkurl. t)arn,rltts tfthe phscited rclreL /1t the erd aftha pop.r a dis.u\sior i\ s^,.n, ah.l guidelih.s.l /n.tLrr

K.tt nDtlh: pltth tir, lcarbot tlvunii. ,,oncL dlmnic behnwru

l. IN'IRODIJ(l tON l rt t, L t .r I i t . t . 1 . . t l e . t , . : , a , t l a . . o- n e , . , , . ,
5lkwl
Planetrrygeuh,r ei ! ilh il'ek co.lpactdesignare largely 1200lnin'l
rcpresentedirr ol)cralingsynenrsof rnobile Drachinery.
l:24
Oleftli.g coDdrllors lbr trinsmissions nr molile
rtu.hi'rery vart 1\itlLlnr $lde r0nge. Res€archof thc
gcarbox dynon,i(:rjn tlris ca\c is of great impofiancc.
E x i m i n i n gt h e d ) n r n i c s o f p l a n e l a r yg e a r b o x el e
s a d st o
conclusiolcth,Lliould greally assjsithe develophentol
plalretary red,(xrs with reSard lor in]rrovnig d,eir
conip.ct dcslrn. ircfeasing reliability, infeasing the
lifer Dre of thi ndic. rcducing vibration and reducing
nolsein worlnig (onditions.elc.
Duc to the a,(nrientioneii rosons. a loi ol researchis
donc nr $e llrl(l of se..box dymmics. Analysh of the
dyramic behrvior of planeta.yrcduccrsis posible with
vafious (r'rt)urJ sollware. *hich periorn sirnuLatioDs
I l l 1 l . , ' 1 p l r c , ' , u " , i l n , u u l J b e \ e r i f i c .bl )
cxpc ncDril methodsI4l, [5]. An evengre.ter inpact or I
phretary,liile resea.chis givetr by thc possibility of
pcrfonniD! t)h)s;cc1experimenisto verify tl,e conrtut€r
l'is. L S(htnlati.t oJthe der.loped plan.tdry gatftor
sjmulaledJtn(rnlc aDalyscs.
In this pape' a rew coDceptofll.nctary drive has been
d.veloped.lts dlnahic rnodelhasbeenmade,rhich has
2.l DynrmicmodelsetuD
I'eensolveilii M.4;Zl, v,uut,/N.(, [6]. Tle results.f
The dynanic model o1-thellanetary reducer is set in such
the sinularjo, are also prescntedin thc palcf. The paper
a way as ro present the planetary redu.er in lNo pLanes
also presixrrsrhe conclusionsdrasn lionr lhe simulaLior.
(figu.e l). Confton elemenh to both rlanes arc the
a.(lpossihlediectioDsfor firlureresearch. ' (hal
pinion caf'er (h), dxal plnior (f C) and the shalt
conncctr tbe dual pinion to the piDioD cdjcf. The
2. DYNA]\'IC JVIODI'LO}'NEW CONCEPT dyoarnic model h.s fcu degrees of lieedonr Nhich
I'I,ANI :TARYGIIARI]OX de,'frs d1e dynamic system of the planetary reducer: 11
radirJ movehent, the inovement ofthe pnrion canief (h)
lhnetarr F#rhor ofC co,,ceprion hasbeendcvclopedin arou4(l lts axis ei, inoving dtral pinlon aromd rts orvn
this patrcJ Ii lonshts ofa pinion canier (h), a statbnary axis {). (it is equivalenLto O!, siDcc it is a duaL pinion
ceDtmiliDs sca. (e). dual pinion (f - g) and the movable selup) and movirrg of the po abLe certral ring gear (b)
centril ri,rg gears(b). (fisure l).The planetarysedrboxln . o"1J .. i.4, ll(.5,
liguft! I il designed1brtheparanieters giveni. TabLcl "e o' \. h. uiJ.ge-. o
fieedoin best des*ibes tie operation of lhis planetary
redrcd Conlacts behveen gea,s wbich a.e coupled a.c

75
modeled !s springs ard dan1pe6. Crontaorbellteen t}le Degrees ot lieedom. accordlnro \hic\ the i)lt,tle
ge,r!!.o loed- r 'orPo..prir'--lj I'c', rodel has ber made,are shownat [igure : Degfccsof
and dunpor with danpjng coefilcient tr. while the needo are marked aI thrce'diinei:rionalJlgue .f
contact belween the geaf g and gear b is modeled as a
spri.g sith stlffnc$ .r, dunler with damping cocfilcient
tr. The dynanric nodel does not take inro consideration
.l .cJ,r'.. l-e ') cr'.,F' Lo.cF ir
l.
favor ofnore accurate calculations: the lotal mass oflhe
system eLcDentshas teen used here. Thc values of ma$
and moments of inedia rvere obtained fion thc CAI)
noae o r (Jpcoro. pld,er'1 8.ao. lrF l\r"nic
modcl ofLhe planetary gearbox h shown in Flgure 2.

f-ig.3. Desr..t ql-l cloo,1taltkut.tory rcdr.er

2.2 DJ"namiclllodol definition

Defi. 19',e,1)n n(.,,'.JN'I i,'(rd,l !oLJ !.i

lcrfomed r.i|g L.agrange .quil{ors of the secondkjrd

.rld h. 1rupr'J.h(. rD, , rle.ho!('\'\e"
and Drh efs linciple or (vrn llaniltorr\ l.inclde,
Laghngc e(tualioNgjvc tbc b, sl ,lei,i(ti(,nof r dynamic
) J e m . W l r l \ c r r ' ' Ur f , \ ' L l ' . r : ( c , l r i ' i o _ ' . ;
Lagrangcc,tud{ioisofthc rela)d,lkii , the Liielic enorgy
o f r h cs y s t c ni r I l r s lc i l c u l n t e d

".

fiA. 2. Th. dlne ic,wlal olthe Plandon gubax d)

ptMc It b)pla,c 2
I I li
r-.,(,,r",). e -.l:.'.i,) t . E . a t ;. . l .td)-r.l tll td
)t "-

Followingthc kinelic energy.thelotential enerCycftre systemls caleolrled:

' '
/ l,l | . d.' 1l'l .,' "r. ,1.d. i, [ . -d ,l .. lt..N) D-31 a a (?)

Finally.tic functionofsystcmdissipatlonis calculated:

,u,)-"al\
o=lt,tp;-1,(p, kt,V,\i ,t,r,)']
.011-,0.1-:4i2,i.ty1p,,.a,1-"a,.
4,,,1,,,(i,*a,l,ai,.',i0.) (r)
Alief calcuLatingthesetunclionsthe next stcp is the LagranSeeq!0liors ol lhe sc*rxl kind lbr the dvnanncsvslern
acco nig to tle fornrla:
n ,-8, lE. ?1, ;,Q ^
()
1! at1 iq, -,!, ;4, .
WritiDgtlre dyrihic cquation\Ireserts lhc final stet beforeits l,! rg in rnatrixiirlr) S.lstemofdvDamicequalions
hastrecnputtedin natrix foD because ofits easicrsolvingl

{r}+ B{4}, c{,/}={D}

first menberii expre\ion(5)is nas andmornent
ofinertiam.rrlx

76
 0 0
fu*'Y*a
^4'l=l
:
a; +Ja+n

'0
t +Ja+nsd +J",
Jq+1,
++r"
J4+.Iq
0 ;l (6)

S€condmeinber in dpresion (5), is dumpins mar.ix:

It'q ..0. .1
o tt,hf.-\|,, *)-V,h,d_u;|,"*Al
9I
d,tl
' 0 t\,.v,a1+r{av" +,,1,,
| at t"1-4 _tv, I (7)

I o t"l7| -V,r" ,",1 l

t.''iil;t", qprsion
in :\ r5r sdffiRss
mrri\ .l
0
o",I i :'il"),|Zli;:t a,+r', -*'tl
"'t
"'h'
", (8)
I o *ntr,'") -er{s .t I
Last mahix h expresiof,(5), is inpulse matrix:

f'l
,"ll'f (e)
L'l
B y definins all of Mtrixe, and equatioN it can b€ pro.edced to solving dlnmic system.

2.3 Dynamic model $olying

3x10-3[ksn2]
SolviDg €quatior syst€ms of rhe dl.nmic modet, is
p€rfomed with a simularion n MATLAB-SrMItt,tNt;. ttl
l7x10-3lk8m2l
ofdor to solvethe systcmof equationsa solvi,,g ccherne
Itas beennade (Fisw 4), in rhe J1,41ULr{tr etr\ ;(mnr€nr. Moment_ofinenia of
Belb e solvire fie sysr.n ilyMmic equariors.pd,{nrelct{
306x10-3lksm2l
or tne sysreom6t be rakenFom CAD modet(t aht. ?). 69x10-3lml
7?hte 2. Dlnamic ho.lel paruheteB 52,5xr0-3Iml
48x10-llnl
I l7xl0'3tml
I .67x10101N/ml
I.56x10l0tN/mi
kt 3200fNVnl
2400fNJml
Dumtins and stifhess coefficient valus har b@r uK€n
liom liieratue,t3l, [8].

77
 Fit!.4.S.hendtij o.f.l!na,ic rytt.n sah|r in SLVLit1l'tK

3. RtrSULTSOF SIMIJLINKDYNAMIC
SIMULATION

Simulatio! of tle dynamicmodel has beenperfomcd rn

two peiods ofoscjllalionofihe dyn!6ic svsten lmpulse
oftho oscillalingdynamicsystem$as pcrlorned wjth the
momcntMh. as an hput impnhe pararncretMomeDlnlh
<)
{ i s J - r e r o p c d( . n . h ' o l ' r c t _ e t u n r i o nl l - g r e
I7I.

',,t''', at
Fig. h. t . lu itieN4 fedr.et etentents
. t= 1,67rt 1| a[Nh] c- l. 56xI 0I 0[N/ni ;

. k-t: (t([Ns/hr]:k2=2100[Ns/"i

!-,'t
,., i l
tl
r; i;. liii q;r i,:

Fig.5.InlP se nohert, Mr
With the introductioD ol an imfuls€ momcnt the
simulatlon is stafted (Figure 5). which simuLalesthc o,r. ,. ,.,,*,,, t,"u*et elenertsat
dvnamicoscillationof the pLanetary gearboxsvsten as cF t,67:tlAl1[N/h]; c|=t,t6! t0t0[N/ni:
tl,e outputol diagramsareoblained:acceleration. lelocilv I ) - 3:00[Ns/nl: k, =u]a [Ns/"i
(Fisure6). distlacement(ligxre 7l andlotal displacemenl (lalcuhtionoi dynarnictorceslas been perf'rmcd
of sll lour desreesof lieedoDrin th€ dlnamic svstenr' i!ccorJingto tirnirula:
Accel€rationa1o!g01edilectlonsof degrecsof ireedom' F , , , , , = cq t k q (10)
at th€ begiiniDgof the first pcfiod of oscillatlon,is wLrh
la|ge varialions.while al tlie end ofthe secondleriod oi Dyn.mjc ftnlc. which is calcllatedacco ing to foNula
the oscillalions;s jn caln variations.linal producl or (9). presentscomplctedynaFic lorce whlch is actlng at
MA'ILAB SII.|ULINK sinllalion are the dvn.mic fonr's nrrlicular rtronNnt.,Lelementofreducer'Iton ligu.c 8 i1
(fisrr€il). :xn be seenLhrt oscillationsofd\damic force its far less
thaDoscilaliorNDnvcLocities.

78
 trl

i^ltl
-i
,'\''rii
Fis.S.DynoDlic./btccsoJatlu.erelenen^atct=t,67xI0ta[N/nJ:c,:],i6tt0ta[N/"j].kt-,3t00lNs/h1l:
kF 2100[Ns/h],a) rhaJrof dotble .fl tclttef s; b) satetitectrner h: c) hfik vtte ite.fs ukttd) nbv..e tdt sedr D

froh figue 8 it can be seenthat the bigesi dynanic ptuJite MechaDismind Machiie fh€ory.
force .cts at doubles!tcllite f-9. Doublc satellireonly V o l . - 1 9".dr.
p. . 6 9 5 ' 7 1 5
h.s the negativedynamic. beoauset[c direcijor of [2] H. DlN6, -4. KAHRAMAN, {2007) tr.,?.t/oD
Jbrc€ dependsof Lhe dircction ol movement and bet( ten norliteor spn g.at ltiuni.sotd strfdr\
velodty. Tlie snallestdvnarnicforceaclson novdble !?i/. Joumal of Soundard Vlbratior, Vol. 307.
cenbagear b, but that dyndnic forcc fias the great€sr p . ( ! 6 16 7 9
oscillations(Figure8d). tl B \ f l N r ( . V . . \ . v l n Z l . K q . \ 2 t ) 2' , D r n , n ; .
l.,1ls ol tn.chdni.al .q.nra,rr.!, IlaI4ES 20(ll
1. CONCI,USION Coniir.!.e Proceedhgs. l). 7l)3-708
[4] V. n.rdnia. (2oao) Ihrcn4l dvahic lodl! ,,]
When ille sinuhtion has been completcd,it can be plare4ry gear r?Dr Masler lhesir, frculit ,r,
concludedthat the most critical is thc lirsr period of hectranic]lengiDeerin8. tjniversityoiAelgmde
oscillation.Afier tbe first period ol oscillation,the f5l V. llAf[l!iC (2005) lntcrhtl tllhnri. totlN al
dyla'ric oscillatjonsof rhe dynamical systen are plan.htry gea/ rzi,r. Docio ol philosottry
calming.Tliir rule alllies to the dylamic tbrce, and d i . \ ( n . i.o n . r . . u r ) u i r r . l " . . i c ' c ' s ' e . , i , B .
accelcration. and velocity,and displacement. Research Uni\erity ofllelgade
ol the dynamicsof planetarygerr liom this point ol [6] M. ALAGOJEVTC, y. Nl(Or.rC. ,.
view can greatlyhelp to reducevibrationat starlu! of M^[(I,\NOVIC. Lj. VI],]OVIC (2OO',aNI it
planeiaryreduc€r.Fudher researchon rhis hsuc a,o aJ.rclaid diE drna ic h.hariut, S.ientiflc
availablc on a th€oretical and analytical and Techiical Revicw,Vol. I-lX, No. l, 2009,pn 52.
expernnentaldesign. At thc lcvel of lheoreucar 56
scfeeningcan be (lotreat: improving lhe model, tle
'n
J \ r h r r . l o ( e I d r r o l . c . I e . r I i n ! o f . h c d y r dn i . MARJANOVIC, M. I}LA(]OJL'V(]. I\J.
force in real planeta.yge unit, rhe deleoDilarionof N{ARJANOVIC, (2013J DrN/MtC Bt }1,IltOR
stiffnes throughsjnulationand manyotherparar,€teN OF PLANETARYGEARBI)X NI'IY CON('t1'7,
and their causes.On thc experinentaldcsien c.n be D E M I 2 0 1 3 C o n f e r e n cict o c c e ( l i D g sp,t . l i l ,
nade and rneasured valuesin orderoiconfirmationof
re$'lls obtair€dby siinulatnni. [8] v. BATINIC, (1998) Dt ru,i. sktbilib .f
ptanetdrygearbo\es'. 1l{l\11.1!i
1998 Cortinarce
REFI'RENCES P.occedinss.
l. 539-544.

I | . . \ U K s r t . . \ . / . : A hR A V A \ . \ , ! .4 ) D r t r r t c
toothlodds.fplanetaryg.drsels hati etoath Facultyof EngineeringUDiycrsityotKragujevr..
ScstreJ.iji{ 6, Kja8ujevac.Serl)in.nnnatciic(!itks
!c.rs

79

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