GEARS II

• Basic Tooth Dimensions

• Kinematics of Gears
• Force Analysis

Prof. J. Uziak
Basic Tooth Dimensions
• Tooth system is a standard, which specifies the relationships involving the
gear parameters: Addendum, Dedendum, Working Depth, Tooth
Thickness, and Pressure Angle.
• This standard also achieves interchangeability of gears of all tooth numbers
but having the same pressure angle and module.
• For small number of teeth to avoid interference, a modification of the
above standard known as long & short addendum system is used.
• In the short system the addendum of the gear is decreased just sufficiently
to avoid undercutting and the addendum of the pinion is increased.

2
Formulas for Tooth Dimensions - Full-depth Tooth System
• Table list the basic tooth
dimensions for full-depth
tooth system having pressure
angle of 20o and 25o.
• The 20o pressure angle is the
most widely used.
• The 25o pressure angle is used
preferably when pinions with
least number of teeth is
desired.
• There are also gears having
stub teeth, which have the
addendum shorter than the
standard one, to make the
teeth stronger.
• Today cutters for 14½o, 20o
and 25o as well as cutters for
stub teeth can be obtained.
3
Straight Bevel Gears
Bevel Gear - transmit motion between intersecting shafts
Usually made for shaft angle of 90◦, may be produced for almost any angle.
• Pitch diameter of straight
bevel gears is measured at the
larger end of the tooth.
• Circular pitch, p and the
pitch diameter, Dp & DG are
calculated in the same manner as
for spur gears.
• Clearance between the teeth of
bevel gears is uniform, since
the teeth are tapered.
• Pitch angles - γ and - Γ are
defined by the pitch cones
meeting at the apex.
4
Kinematics of Straight Bevel Gears
Pitch angles γ and Γ are related to the respective bevel gears
tooth numbers through the equation

NP NG
tan   , and tan Γ 
NG NP

where:
 subscripts ‘P’ and ‘G’ refer to the pinion and the gear; and
 angles γ & Γ are the pitch angles of the bevel pinion and bevel
gear, respectively.
 Notice:
P N d
Velocity Ratio   G  G  tan Γ  cot 
G NP dP
 Kinematics of Straight Bevel Gears
 Shape of the teeth projected on the back cone.
 Shape is the same as in spur gears having a radius equal to the back-cone
radius - rb.
 This method is called the Tredgold’s approximation and the number of
teeth on this imaginary gear is given by

2 rb
N 
'

where
N is the virtual number of teeth and p is
the circular pitch measured at the larger end
of the teeth, that is at the back-cone.
Parallel Helical Gears

• Helical Gears – can be used to transmit

motion between parallel shafts
• Helix Angle - the same on each gear, but
one gear must have a right-hand helix and
the other a left-hand helix.
• Shape of the tooth is an involute helicoid
o If a piece of paper cut in the shape of a
parallelogram is wrapped around a
cylinder, the angular edge of the paper
becomes a helix.
o If we unwind this paper, each point on
the angular edge generates an involute
curve.
o This surface obtained when every point
on the edge generates an involute is
called an involute helicoid.
7
 KINEMATICS OF HELICAL GEARS
Figure shows a portion of the top view of a helical rack providing
the data for helical gears:
• The angle Ψ is the helix angle
• The distance ac is the transverse circular pitch, pt
• The distance ae is the normal circular pitch, pn
• The distance ad is the axial pitch, px
Ψ - helix angle
n - normal pressure angle
t - transverse pressure angle
KINEMATICS OF HELICAL GEARS
Normal circular pitch is
related to the transverse
circular pitch as follows
(See ∆-le ace)
pn  pt cos

Axial pitch is related to the

transverse circular pitch by
(See ∆-le acd)
pt
px 
tan
Ψ - helix angle
Normal module mn is given by
n - normal pressure angle
mn  m cos t - transverse pressure angle
KINEMATICS OF HELICAL GEARS
Normal pressure angle n is different from the transverse pressure
angle t acting in the direction of rotation.
These angles are related by the equation
tan n
cos 
tan t

Virtual number
of teeth N′ is
related to the
actual number N
by the equation
Ψ - helix angle
N
n - normal pressure angle N 
t - transverse pressure angle cos 3 
KINEMATICS OF HELICAL GEARS

 Radius R is called the

apparent pitch radius of a
helical-gear tooth, when viewed
in the direction of the tooth
elements.
 Gear of the same circular
pitch having a radius R will
have a greater number of
teeth.
 Virtual number of teeth, N are
required in using the Lewis
equation for bending stresses
in helical gears and when
cutting the gear.
Tooth Proportions for Helical Gears

• There is no standard for the proportions of helical gears,

except for fine-pitch gears, since helical gears are rarely used
interchangeably
• As a general guide, tooth proportions should be based on the
normal module and normal pressure angle of 20o for ψ
varying from 0 to 30o. Most of the tooth proportions, which can
be used are the same as for spur gear (see Table Formulas for
Tooth Dimensions of Full-depth Tooth System– spur gears)
• The helix angle ψ is restricted to 15, 25, 30, & 45o.
• If proportions are based on the transverse angle t = 20o then
the transverse module mt-m is used.
Kinematics of Worm Gearing

Pinion -The
Worm Gear

Rack - The Worm

Kinematics of Worm Gearing

 Worm gear sets are either single-enveloping or double-

enveloping.

The important difference between the two type of gear set is that a
linear contact exists between the teeth of the single-
enveloping gears, and an area contact exists between double-
enveloping gears are in mesh.

 Nomenclature of a worm and worm gears is shown next slide

 As in crossed helical gears the worm and worm gear set have
the same hand of helix but their helix angles are different.
Kinematics of Worm Gearing

Worm lead angle

λ is the
complement of
the worm helix
angle Ψw as
shown in figure

For 90o shaft angle the lead angle λw

of the worm is equal to the helix angle
- ΨG of the worm gear, that is λw= ΨG
.
Kinematics of Worm Gearing

•Axial pitch of the worm - px

•Transverse pitch of the gear - pt (b)
 Kinematics of Worm Gearing
In Worm & Worm Gearing we distinguish:
• Axial pitch of the worm - px
• Transverse pitch of the gear - pt
• If the shaft angle is 90o then px = pt.

pt
d G  mt N G  NG


• The worm gear pitch diameter is calculated as for spur gears

• The worm may have any pitch diameter, as it is not related to
the number of its teeth, but
• The worm pitch diameter is the same as the pitch diameter
of the hob used to cut the worm-gear teeth (see nest slide).
Hobbing of Worm Gear
Kinematics of Worm Gearing

When selecting the pitch diameter of the worm it should be

within the range as specified by

C 0.875 C 0.875
 dw 
3 .0 1 .7

where,
C is the center distance between the axes,
dw is the worm gear pitch diameter.

Above proportions appear to result in optimum horse power

capacity of the gear set.
 Kinematics of Worm Gearing
 Lead L and the lead angle λ of the worm may be determined
from the following equations:

L
L  px N w tan  
 dw

• Tooth forms for worm gearing have not been standardized.

• Pressure angles used depend upon the lead angles and must
be large enough to avoid undercutting of the worm-gear teeth
on the side at which contact ends.
• To avoid undercutting the tooth depth of the gear should be
made a portion of the axial pitch.
Kinematics of Worm Gearing

Table summarizes the recommended normal pressure angles

and tooth proportions of worm gearing in terms of the lead
angle and axial pitch
Kinematics of Worm Gearing
Face width of the worm gear should be made equal to the
length of the tangent drawn to the worm pitch circle between
the point of intersection with the worm addendum circle as
shown below
 Force Analysis - Notation to be used.
 Frame of the machine – 1
 Input gear - gear 2, and
 Successive gears - 3, 4, etc.
There may be several shafts involved, and usually
 One or two gears are mounted on each shaft as well as other elements.
 Shafts - lowercase letters of the alphabet, a, b, c, etc.
With this notation:
• Force exerted by gear 2 against gear 3 - F23
• Force of gear 2 against a shaft a - F2a
• Force of a shaft a against gear - Fa2
Superscripts to indicate directions:
• Coordinate directions usually be indicated by the x, y, and z coordinates,
• Radial and tangential directions by superscripts r and t .
With this notation, Ft43 is the tangential component of
23
the force of gear 4 acting against gear 3.
 Force Analysis
 Components of Gear Forces - usually determined rather than resultant gear
force
 Gear Force – can be calculated later by the vector sum of components
 Components – used in calculating bearing reactions, shafts sizes etc

Friction Losses
 Spur, helical, bevel gears – very small
 Spur, helical, bevel gears – considered to be operating at 100% efficiency
 Exceptions – in spur gears in circulating power
 Worm and Worm Gears –
o not as efficient as other gear systems
o friction considered in determining force components

24
 Force Analysis – Spur Gears
 Pinion mounted on shaft a rotating
clockwise at n2 rev/min
 Driving a gear on shaft b at n3
rev/min.
 The reactions between the mating
teeth occur along the pressure line.
 Free Body Diagram:
 Fa2 and Ta2 - force and torque,
respectively, exerted by shaft a against
pinion 2.
 F32 – force exerted by gear 3 against
the pinion (Note: F32= - F32)

25
 Force Analysis – Spur Gears
 Free-body diagram of the pinion
with forces resolved into
tangential and radial components.
 Transmitted load - tangential load
which is really the useful
component,
 Radial component Fr32 serves no
useful purpose,
o Does not transmit power,
o Bends the shaft a

Wt  Ft
32 Wr  F r
32
26
 Force Analysis – Spur Gears
Torque T2 and the transmitted load Wt relate
through the equation
d
T2  Ta 2  Wt
2
Pitch-line velocity - V at the pitch point
dn V - pitch-line velocity, [m/s]
V n - angular speed, [rev/min]
60 d - pitch diameter, [m].

Transmitted load Wt:

27
H  Wt  V H - power
Force Analysis – Straight Bevel Gear

• Shaft & bearing forces due to

bevel gears – determined in
practice by using the
transmitted load - Wt, which
would occur if all the forces
were concentrated at the
midpoint of the tooth

• Point of application of the

three forces occurs slightly
above the midpoint of the
tooth - small error in that
assumption.
28
Force Analysis – Straight Bevel Gear
Transmitted load Wt:
T H ω H H
Wt    
rav rav rav V
where:
T - torque transmitted,
rav -pitch radius of the gear measured at the
midpoint of the tooth,
ω - angular velocity of the bevel gear,
V - pitch-line velocity at rav.

From the trigonometry

Wr  Wt tan  cos  Wa  Wt tan  sin 
Three components are at right angles to each other and may be used
29
to determine bearing reactions on the shaft, as well as the SF and BM.
Force Analysis – Helical Gears
Ψ - helix angle
n - normal pressure angle
30
t - transverse pressure angle
Forces acting on helical gears
are in 3D, because the teeth
are not parallel to the axis of
rotation
Wr  W sin n
Wt  W cos n cos
Wa  W cos n sin 
where:
W - resultant force,
 to the tooth in consideration
Wr - radial component
Wt -tangential component
Wa - axial component/thrust load
Force Analysis – Helical Gears
Transmitted load Wt is obtained
from power transmitted H and
the pitch-line velocity, V

H
Wt 
V
The rest of the forces can be
expressed in terms of Wt :
Wr  Wt tan t
Wa  Wt tan
Wt
W
cos n cos
31
Force Analysis - Worm Gearing
If friction is neglected between the worm and worm gear, the only force
exerted by the gear on the worm will be - W, having three orthogonal
components: Wx, Wy, and Wz.

32
Force Analysis - Worm Gearing
Components of the resultant
force W

Wx  W cos n sin 
W y  W sin n
Wz  W cos n cos 

Notation: subscripts w and G to indicate forces acting on the worm and on

the gear and noting that for 90o shaft angle:
Wy - separating or radial force on worm & gear
Wx - tangential force on the worm and axial force on the gear - Wa,G
Wz - axial force on the worm and the tangential force on the gear -
33 Wt,G
 Forces on the Worm and Worm Gear
y

z x

z
34
x
Force Analysis - Worm Gearing
Components of the resultant force W
Wx  W cos n sin 
W y  W sin n
Wz  W cos n cos 
Gear forces are opposite to worm forces:
Wwt  WGa  Wx
Wwr  WGr  W y
Wwa  WGt  Wz
Observe the directions of axes of the worm & gear
The gear axis is parallel to the x direction
The worm axis is parallel to the z direction
35 The xyz is a right-handed coordinate system
 Force Analysis - Worm Gearing
 In spur gears motion of one tooth relative to the other is
primarily rolling.
 Relative motion between the worm and worm-gear teeth is
pure sliding.
 Therefore, friction plays an important role in the
performance of the of worm gearing.

Now considering the coefficient of friction μ :

Wx  W (cos n sin    cos  )

W y  W sin n
Wz  W (cos n cos    sin  )
36
 Force Analysis - Worm Gearing
Wz from equation: Wz  W (cos n cos    sin  )

Substituted into equation: Wz  W cos n cos 

Friction force Wf
 WGt
Wf   W 
 sin   cos n cos 
Solving simultaneously the relation W  W (cos  sin    cos  )
between the tangential forces WWt x n

and WGt is determined Wz  W (cos n cos    sin  )

cos n sin    cos 

Wwt  WGt
 sin   cos n cos 
37
 Force Analysis - Worm Gearing

Efficiency - η of the worm and worm-gear set is defined as

Wwt ( without friction )

Wwt (with friction)

Substituting with μ=0 in the numerator and using the same equation in
the denominator, then the efficiency - η:

cos n   tan 

cos n   cos 

38
 Force Analysis - Worm Gearing

• Selecting a typical value of the coefficient

of friction, say 0.05, and the pressure
Vw angles shown we can calculate efficiency.
Vs  • Experiments shown that the coefficient of
cos 
friction is dependent on the relative or
39
sliding velocity
 Force Analysis - Worm Gearing
• Representative values of
the coefficient of friction
for worm gearing.
• Values based on good
lubrication.
• Use curve B for high-
quality materials, such as a
case-hardened steel worm
mating with a
phosphorbronze gear.
• Use curve A when more
friction is expected, as
with a cast-iron worm
mating with a cast-iron
worm gear.
40