Effect Analysis of Friction and Damping On Anti-Backlash Gear Based On Dynamics Model With Time-Varying Mesh Stiffness

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Effect analysis of friction and damping on anti-backlash gear based on

dynamics model with time-varying mesh stiffness
Article in Journal of Central South University of Technology · December 2013

DOI: 10.1007/s11771-013-1870-7
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J. Cent. South Univ. (2013) 20: 3461−3470
DOI: 10.1007/s1177101318707
Effect analysis of friction and damping on antibacklash gear based on
dynamics model with timevarying mesh stiffness
YANG Zheng(杨政), SHANG Jianzhong(尚建忠), LUO Zirong(罗自荣)
School of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
© Central South University Press and SpringerVerlag Berlin Heidelberg 2013
Abstract: A nonlinear model of antibacklash gear with timevarying friction and mesh stiffness was proposed for the further study
on dynamic characteristics of antibacklash gear. In order to improve the model precision, applied force analysis was completed in
detail, and single or double tooth meshing states of two gear pairs at any timing were determined according to the meshing
characteristic of antibacklash gear. The influences of friction and variations of damping ratio on dynamic transmission error were
analyzed finally by numerical calculation and the results show that antibacklash gear can increase the composite mesh stiffness
comparing with the mesh stiffness of the normal gear pair. At the pitch points where the frictions change their signs, additional
impulsive effects are observed. The width of impulsive in the same value of center frequency is wider than that without friction, and
the amplitude is lower. When gear pairs mesh in and out, damping can reduce the vibration and impact.
Key words: friction; damping; antibacklash gear; dynamics; timevarying mesh stiffness; dynamic transmission error
dynamic performance of whole system, which is worth

1 Introduction studying.
In recent decades, there were lots of research
Gear transmission, with the advantages of high achievements on gear dynamics modeling and analysis,
transmission efficiency, running stability and high which were reviewed by ÖZGÜVEN and HOUSER [17]
driving accuracy in oneway drive mode, is widely used and WANG et al [18]. KAHRAMAN and SINGH [19]
in various mechanical systems. However, the gear considered the backlash and timevarying mesh stiffness
backlash leads to response lag in some servomechanisms in the gear model; THEODOSSIADES and SINGH [20]
[1−3] which reduces the control accuracy seriously. In investigated dynamics of a gearpair system with
order to improve the driving accuracy, some suitable backlash and timevarying mesh stiffness, and the system
methods of error control must be used [4−5], such as was under the action of external excitation; VAISHYA
double electric motor [3], double helical gear anti and SINGH [21] proposed alternative strategies for
backlash [6], spring (or torsional spring)loaded anti incorporating the phenomenon of sliding between gear
backlash [7−16], and so on. Among others, the spring teeth, and timevarying mesh stiffness, friction and
loaded antibacklash gear is extensively used in damping ratio were also considered in Refs. [22−23].
numerous fields of industrial robot [12], precision servos SONG et al [24] mainly developed a coulomb friction
[14−15], radar antennas [7−8] and precision machine model for sliding resistance with empirical coefficient of
tools [6]. In order to eliminating backlash, most methods friction as a function of operation conditions. From the
above are with the purpose of increasing preload by recently published papers [25−26], more realistic and
intention. However, increased friction force caused by exact gear model with multi parameters excitations and
preload is the major factor of wear, noise and vibration. strong nonlinearity will be one of the research trends.
Many precision mechanisms with antibacklash gear On the dynamics of antibacklash gear, such as
require the dynamic characteristics of high speed, high frequency characteristic, stiffness and dynamic
accuracy and high stability [14]. The antibacklash gear transmission error etc., there are fewer achievements. A
also is under the complex work conditions of often simplified torsional dynamic model was established by
starting, commutation and braking. Thus, the internal LI [11], and the natural frequency was analyzed and
excitations of antibacklash gear such as timevarying estimated. NAOKI and MASAYOSHI [12] proposed an
mesh stiffness, friction and damping have effects on approximate stiffness model of an antibacklash with the
Foundation item: Project(51175505) supported by the National Natural Science Foundation of China
Received date: 2012−07−11; Accepted date: 2012−11−10
Corresponding author: SHANG Jianzhong, PhD, Professor; Tel: +86−731−84574931; Email: jianzhongshang@gmail.com
3462 J. Cent. South Univ. (2013) 20: 3461−3470
characteristic of three segment flexible joint which was 2.1 Force analysis of each two gears
used in a manipulator. The antibacklash gear was used 2.1.1 Force between pinion and fixed gears
in a kind of farm tractor to reduce the noise of power The relative displacements in line of action of gear
takeoff system by SHIM [13], and the vibration and pair g1g2 and g1g3 are defined as x1 and x2, also called
noise were analyzed by a simulation model which was dynamic transmission error (DTE), and x1=rb1θ1−rb2θ2,
validated by experiment. A dynamic model with friction x2=rb1θ1−rb2θ3, where rb1 is the radius of base circle of g1
of antibacklash gear servomechanism was proposed by and g2; rb2 is the radius of base circle of g2 and g3; θ1, θ2
KWON [14], and the stiffness model of antibacklash and θ3 separately are rotation angles of g1, g2 and g3. In
gear was similar as three segment flexible joint order to describe conveniently, the equivalent relative
characteristic. ALLAN and LEVY [15] proposed a displacement xtor of rotation angle difference between g2
method for estimating the minimum preload torque and g3 to line of action is written as xtor=rb2(θ2−θ3), called
required to obtain a satisfactory step response from a DTE, too. The direction of anticlockwise is defined as
position control system with springloaded antibacklash positive rotation while clockwise as reversal. As shown
gear. in Fig. 2, the initial state is the time when gear pair g1g2
The above studies on the antibacklash gear did not is entering into the doubletooth meshing area (DMA) in
mention the timevarying mesh stiffness and friction with positive rotation.
the characteristics of multi meshing points. In this work, When antibacklash gear running, gear g1 is stressed
an antibacklash gear transmission mechanism is studied. by both g2 and g3. Gears g2 and g3 are connected by a
Applied force between each two gears is analyzed torsional spring. The force analysis of each gear is done
completely. Meshing timing of every meshing point is as following, based on the assumption of all gear pair in
defined. Based on this, a nonlinear dynamic model the singletooth meshing area (SMA).
considering friction, timevarying mesh stiffness is As shown in Fig. 2, there are three position relations
proposed, and the influences of friction and variations of in gear pair of g1 and g2: normal contact (Fig. 2(a)),
damping ratio on dynamic transmission error (DTE) are isolation (Fig. 2(b)) and abnormal contact (Fig. 2(c)). In
analyzed by numerical calculation and simulation. this work, the state in Fig. 2(c) is not considered in the
calculations bellow. In point p (p maybe A1 or B1 in
2 Dynamics model of antibacklash gear doubletooth meshing area), the contact force and
friction between g1 and g2 are expressed as
Figure 1 shows the structure of antibacklash gear.
Fixed gear g2 and loaded gear g3 connected by a torsional
spring rotate relatively an angle of some teeth. Two sides
of a tooth of gear g1 contact respectively with a tooth of
g2 and a tooth of g3 under the action of torsional spring
force, when gears are working. Thus, there is no backlash
in transmission no matter it is in positive rotation or in
reversal rotation.
Fig. 1 Structure of antibacklash gear
There are some assumptions before modeling and

analysis: 1) ignoring the effects of stiffness and damping
of each shaft, i.e., the model is considered as a torsion
vibration model; 2) ignoring the effects of stiffness of
lubricant film on contact stiffness; 3) contact conditions Fig. 2 Meshing states of g1 and g2: (a) Normal contact;
meet Hertz contact theory. (b) Isolation; (c) Abnormal contact
J. Cent. South Univ. (2013) 20: 3461−3470 3463
& c1
ìï F12 p = k m12 p xc1 + cm12 p x where f is defined to switch positive rotation and reverse
í (1) of g1 as
ïî f12 p = m12 p F12 p
ì +1 Positive
where km12p, cm12p and µ12p are respectively the f =í (7)
timevarying mesh stiffness, damping coefficient and î -1 Reversal
instantaneous friction coefficient of gear pair g1g2 in 2.1.2 Force between pinion and loaded gears
point p; xc1 is the composite transmission error of g1g2. Similarly, the contact force and friction between g1
The calculation formulas of timevarying mesh and g3 in point q (q maybe A2 or B2 in doubletooth
stiffness k12p is given by meshing area) are expressed as
ki k j kh w & c2
ìï F13q = km13q xc2 + cm13q x
k m ijp = (2) (8)
ki k j + [ ki + k j ] k h í
ïî f13q = m13q F13 q
where kh is the Hertzian stiffness per unit tooth width where km13q, cm13q and µ13q are respectively the
[27]; E is the elastic module, MPa; v is Poisson ratio; w timevarying mesh stiffness, damping coefficient and
is effective tooth, mm; j=2, 3; k i proposed by KUANG instantaneous friction coefficient of gear pair g1g3 in
[28] is written as point q; xc2 is the composite transmission error of g1g3.
rip - r i In similar manner,
ki = ( a0 + a1 X i ) + ( a2 + a3 X i ) (3)
m (1 + X i )
ìec13 + fx2 , fx2 > -e c13
x c2 = í (9)
where ai are the parameters of fit function, i=0, 1, 2, 3; rip î 0, -( ec13 + 2b) £ fx2 £ -ec13
represents the distance from meshing point p to the
center of gear gi (i=1, 2; p represents the meshing point, where ec13 is the composite static transmission error; e13
is the static transmission error caused by profile error and
such as A1, A2, B1 or B2.); Xi is the modification
coefficient of gear gi; ri (mm) is the radius of pitch circle other errors.
of gi . 2.1.3 Force between fixed gear and loaded gear
The friction force between gi and gj is written as When the angle difference of gears g2 and g3
changes, the interaction torque T23 of g2 and g3 changes
fijp = m Fijp (4) as well. It is easy to know that T23=kt(θt+θ3−θ2) in
positive rotation, where kt is the torsional stiffness of
where μ is the friction coefficient；Fijp is the normal load.
torsional spring; θt is the initial torsion angle in preload
The coefficient of friction μ proposed by DOWSON
torque of torsional spring, ignoring the effects of gear
and HIGGINSON [29] is written as
tooth deformation; θ2 and θ3 are respectively the angles
v s a of gear g2 and g3. When gear g1 is in reverse,
m (vs , Fijp , h, h ) = h d x (5)
Fijp h ò - a T23=kt(θt−f(θ2−θ3)).
The equivalent applied force F23 of torque T23 to the
where vs is sliding velocity at the meshing point p; η is line of contact, considering damping, is expressed as
the instantaneous viscosity of the lubricating film at
meshing point; h is the lubricant film thickness [29]. F23 = kl ( xt + f ( x1 - x2 )) + fc23 ( x&1 - x& 2 ) (10)
For the synthetic transmission error xc1, detail where kl is the equivalent linear stiffness to the line of
discussion is given as follows. contact, and kl=kt/rb2 2 ; xt=θt rb2; c23 is the equivalent
Gear pair g1g2 is in the state of normal contact, damping coefficient of torsional spring.
when x1<ec12，and xc1=ec12−x1 in positive rotation, or
x1>−ec12, and xc1=ec12+x1 in reverse, where ec12 is the 2.2 Meshing area determination of each gear pair
composite static transmission error of gear pair g1g2, e12 2.2.1 Determination of SMA or DMA of gear pair g1g2
is the static transmission error caused by profile error and In this work, the contact ratio of each gear pair is
other errors. In another situation, gear pair is in the state 1≤ε≤2, the maximum quantities of meshing points is four.
of isolation, when ec12+2b≥x1≥ec12, and xc1=0 in positive
The quantities is periodic variable within certain
rotation, or −(ec12+2b)≤x1≤−ec12, and also xc1=0 in reverse,
configure of structure and assembly parameters.
where b is the equivalent backlash in line of action, and
When gear g1 is in positive rotation, in Fig. 3,
b=3.438 jt cosα, where jt is the circumferential backlash
meshing point Bs12 is defined as the initial doubletooth
[30] of gear pair g1g2. Thus, the composite transmission
meshing point (IDMP) of gear pair g1g2 in line of contact
error can be expressed by
N1N2, and let t12=0, while Bs13 is the IDMP of gear pair
ìec12 - fx1 , fx1 < e c12 g1g3 in line of contact N1′N2′. The nearer meshing point to
x c1 = í (6)
î 0, ec12 + 2 b ³ fx1 ³ ec12 the IDMP is defined as Ai, and the further point as Bi (i=1
3464 J. Cent. South Univ. (2013) 20: 3461−3470
or 2). θ12 is the rotation angle of gear g1 from Bs12 to A1
along the line of contact, and θ13 is the rotation angle of
gear g1 from Bs13 to A2. Thus, the rotation angle θ1 of gear
g1 is
q1 = nq0 + q12 (11)
where n is the number of mesh cycles, nonnegative

integers; θ0 is called meshing cycle angle. Ignoring the
effect of base pitch error, the meshing cycle angle is
calculated by
p b
q 0 » (12)
rb1
where pb is base pitch.
Fig. 4 Angle φ from symmetrical position to pitch point P
counterclockwise direction; φP is the angle of g1 from

Bs12 to P, along the line of contact N1N2 of gear pair g1g2
in counterclockwise direction.
2
rw1 - rb1 2 - D - S
j p ¢ =
rb1
rw2 2 - rb2
2
- D ¢ - S
j p = (14)
rb1
Fig. 3 Meshing points and position definition of antibacklash
gear where D = ra12 - rb1 2 ; D ¢ = ra 22 - rb2
2
.
So, θ13=MOD(θ1+θ0+φ'P−φP−2φ,θ0). Let d13=Bs13A2,
According to Eq. (11), θ12=MOD(θ1, θ0), where then d13=rb1θ13, and when θc≥θ13≥0, gear pair g1g3 is in
MOD is the function in MATLAB for getting modulus the DMA; when θ0≥θ13≥θc, gear pair g1g3 is in the SMA.
after division. As shown in Fig. 3, let d12 = Bs12 A1 , then
d12=rb1θ12 (θ12³0). 2.3 Dynamics equations
When d12 ≥ S−pb, i.e., θ12≥(S−pb)/rb1=θc, gear pair As shown in Fig. 5, according to the Newton second
g1g2 enters singletooth meshing area, where S is the law, the dynamics equations of the antibacklash gear in
length of actual line of action. different meshing areas are written as Eq. (15).
Thus, when θc≥θ12≥0, gear pair g1g2 is in the
doubletooth meshing area; when θ0≥θ12≥θc, gear pair
g1g2 is in the singletooth meshing area.
2.2.2 Determination of SMA or DMA of gear pair g1g3
According to the theory of engagement, as shown in
Fig. 4, when g1 rotates an angle φ in counterclockwise
direction gear pair g1g3 meshes at pitch point P;
symmetrically, when g1 rotates an angle φ in clockwise
direction, gear pair g1g2 meshes at P, too. Angle φ is
calculated by
s2 + 2 j t
j = (13) Fig. 5 Purely torsional model of antibacklash gear
2 rw1
where s2 is the tooth thickness of gear g2 or g3. rw1 is the J1q&&

1 = T1 + rb1 ( F12 A1 - F13 A 2 ) + f12 A1 R1 A1 + f13 A 2 R1 A 2 +
pitch radius of gear g1. SWITCH(q c - q12 ) × ( rb1 F12 B1 + f12 B1 R 1B 1 ) +
Thus, when gear pair g1g2 meshes at IDMP Bs12, i.e.,
SWITCH(q c - q13 ) × ( f13 B 2 R1B 2 - rb1 F13B 2 )
t=0, the counterclockwise angle of gear g1 along the line
of contact N1′N2′ of gear pair g1g3 is θ13|t=0=φ'p−φp−2φ, J 2q&&2 = -T2 - rb2 ( F12 A1 - F23 ) - f12 A1 R 2 A 1 -
where φ'P is the angle of g1 from Bs13 to P, along N1′N2′ in SWITCH(q c - q12 ) × ( rb2 F12 B1 + f12 B1 R2 B 1 )
J. Cent. South Univ. (2013) 20: 3461−3470 3465
J 3q&&3 = J 2q&& 3 = rb2 ( F13 A 2 - F23 ) - f13 A 2 R2 A 2 + matrix equation as
SWITCH(qc - q13 ) × (rb2 F13 B 2 - f13 B 2 R2 B 2 ) ( 15) && - Cx& - Kx = T
x (22)
where
where Ji is the moment of inertia of gi ; θi is the angle of
rotation of gi ; Ti is the load moment; Rip is the radius of é x 1 ù éc c12 ù ék k 12 ù éT t1 ù
x = ê ú ; C = ê 11 ; K = ê 11 ; T = ê ú
curvature of gear g1 and g2 (or g3) at meshing point Ai and x
ë 2û ë c21 c22 úû ë k 21 k 22 úû ëTt 2 û
Bi, and (23)
where
ì R1 A 1 = D - d 12 ì R1B 1 = D - ( d12 + p b )
í ; í ¢ km12 A1 ( rb12 /J1 + rb22 /J 2 + rb1m12 A1 R1 A 1 / J1 +
k11 = - f [ s12
î R2 A1 = D - S + d12 î R2 B 1 = D ¢ - [ S - ( d12 + pb )]
¢
¢ s12 k m12 B 1 ( rb12 /J1 + rb22 / J 2 +
rb2 m12 A1 R2 A1 /J 2 ) + s12
ì R1 A2 = D - ( S - d13 ) ì R1B 2 = D - [ S - ( d13 + p b )]
í ; í rb1 m12 B1 R1B1 /J1 + rb2 m12 B1 R2 B 1 /J 2 ) + rb22 kl /J 2 ];
î R2 A 2 = D ¢ - d13 î R2 B 2 = D ¢ - ( d13 + pb )
(16) ¢ k m13 A 2 ( - rb12 + rb1 m13 A 2 R1 A 2 )/ J1 +
k12 = f [ s13
¢ s13 km13 B 2 ( - rb12 + rb1 m13B 2 R1B 2 )/J1 + rb22 kl /J 2 ];
s13
where r1A1, r2A1 and r1B1, r2B1 are the distance from
meshing points A1, B1 to O1, O2, respectively. ¢ km12 A1 ( rb12 + rb1 m12 A1 R1 A 1 )/ J 1 +
k21 = - f [ s12
¢ s12 km12 B1 ( rb12 + rb1 m12 B1 R1B 1 )/J1 - rb22 kl /J 2 ];
s12
r1 A1 = A1O1 = R12A1 + rb12 ; r1B1 = B1O1 = R12B 1 + rb1 2
¢ km13 A2 ( - rb12 /J1 - rb22 /J 2 + rb1 m13 A2 R1 A 2 / J 1 +
k22 = f [ s13
r2 A1 = A1O2 = R22A1 + rb22 ; r2 B1 = B1O2 = R22B 1 2
+ rb2 ¢ s13 km13 B 2 ( - rb12 /J1 - rb22 / J 2 +
rb2 m13 A 2 R2 A 2 /J 2 ) + s13
(17)
rb1 m13 B 2 R1B 2 /J1 + rb2 m13 B 2 R2 B 2 /J 2 ) - rb22 kl /J 2 ];
where r1A2, r2A2 and r1B2, r2B2 are the distance from ¢ c12 A1 ( rb12 /J1 + rb22 /J 2 + rb1 m12 A1 R1 A 1 / J 1 +
c11 = - f [ s12
meshing points A2, B2 to O1, O2 respectively.
¢ s12 c12 B 1 ( rb12 / J 1 +
rb2 m12 A1 R2 A1 /J 2 ) + s12
r1 A2 = A2 O1 = R12A 2 + rb12 ; r1B 2 = B2 O1 = R12B 2 + rb1 2 ; rb22 /J 2 + rb1 m12 B1 R1B1 /J1 + rb2 m12 B1 R2 B 1 /J 2 ) -
r2 A 2 = A2 O2 = R22A 2 + rb22 ; r2 B 2 = B2 O2 = R22B 2 + rb2
2 c23 rb22 /J 2 ];
(18) ¢ c13 A 2 ( - rb12 + rb1 m13 A 2 R1 A 2 )/ J 1 +
c12 = f [ s13
SWITCH(t) is a switch function defined as ¢ s13 c13 B 2 ( - rb12 + rb1 m13 B 2 R1B 2 )/J1 + c23 rb22 /J 2 ];
s13
SWITCH(t ) = 0.5 | sign(t ) | [Sign(t ) + 1] (1 9 ) ¢ c12 A1 ( rb12 + rb1 m12 A1 R1 A 1 )/ J 1 +
c21 = - f [ s12
where sign(t) is the signum function. ¢ s12 c12 B1 ( rb12 + rb1 m12 B1 R1B 1 )/J1 + c23 rb22 /J 2 ];
s12
By further derivation, ¢ c13 A 2 ( - rb12 /J1 - rb22 / J 2 +
c22 = f [ s13
x1 = rb12 ( F12 A1 + s12 F12 B1 - F13 A 2 - s13 F13 B 2 )/ J1 +
&& rb1 m13 A 2 R1 A2 /J1 + rb2 m13 A 2 R2 A 2 /J 2 ) +
rb22 ( F12 A1 + s12 F12 B1 )/J 2 + rb1 ( f12 A1 R 1 A 1 + ¢ s13 c13 B 2 ( - rb12 /J1 - rb22 /J 2 + rb1 m13 B 2 R1B 2 / J 1 +
s13
s12 f12 B1 R1B1 + f13 A 2 R1A 2 + s13 f13 B 2 R 1B 2 + rb2 m13 B 2 R2 B 2 /J 2 ) - c23 rb22 /J 2 ];
T1 )/J1 + rb2 ( f12 A1 R2 A1 + s12 f12 B1 R 2 B 1 - ¢ ( km12 A1 ec12 + c12 A 1 e&c12 )( rb12 /J1 + rb22 / J 2 +
Tt1 = s12
rb2 F23 + T2 )/J 2 ; ¢ s 12 ×
rb1 m12 A1 R1 A1 /J1 + rb2 m12 A1 R2 A 1 /J 2 ) + s12
&&
x2 = rb1 ( f12 A1 R1 A1 + s12 f12 B1 R1B1 + f13 A 2 R1 A 2 + ( km12 B1 ec12 + c12 B 1 e& c12 )( rb12 /J1 + rb22 / J 2 +
s13 f13 B 2 R1B 2 + T1 )/J1 + rb12 ( F12 A1 + s12 F 12 B 1 - rb1 m12 B1 R1B1 /J1 + rb2 m12 B1 R2 B 1 /J 2 ) +
F13 A 2 - s13 F13 B 2 )/J1 - rb22 ( F13 A 2 + s13 F13B 2 )/ J 2 + ¢ ( km13 A 2 ec13 + c13 A 2 e&c13 )( - rb12 + rb1 m13 A2 R 1 A 2 )/
s13
rb2 ( f13 A 2 R2 A 2 + s13 f13 B 2 R2 B 2 +rb2 F23 )/ J 2 (20) ¢ s13 ( k m13B 2 ec13 + c13 B 2 e&c13 )( - r b1 2 +
J1 + s13
rb1 m13 B 2 R1B 2 )/J1 - rb22 kl xt /J 2 + rb1T1 /J1 + rb2 T2 /J 2 ;
where s12=SWITCH(θc−θ12); s13=SWITCH(θc−θ13). Let
s'12=SWITCH(ec12−fx1), s'13=SWITCH(ec13+fx2), thus, ¢ ( km12 A1ec12 + c12 A1e&c12 )( rb12 + rb1 m12 A1 R1 A 1 )/ J 1 +
Tt 2 = s12
¢ [ km12 A1 ( ec12 - fx1 ) + c12 A 1 (e&c12 - fx
F12 A1 = s12 &1 )] ¢ s12 ( km12 B1ec12 + c12 B1e&c12 )( rb12 + rb1m12 B1 R1B 1 )/ J 1 +
s12
F13 A 2 = s13 [ k m13 A 2 (ec13 + fx2 ) + c13 A 2 (e&c13 + fx
¢ &2 )] rb22 kl xt /J 2 + rb1T1 /J1 + s13 & c13 ) ×
¢ ( km13 A 2 ec13 + c13 A 2 e
¢ [ km12 B1 ( ec12 - fx1 ) + c12 B 1 (e&c12 - fx& 1 )]
F12 B1 = s12 ( - rb12 /J1 - rb22 / J 2 + rb 1m13 A 2 R1 A2 /J1 + rb2 m13 A 2 R 2 A 2 /
¢ [km13 B 2 (ec13 + fx2 ) + c13 B 2 (e&c13 + fx& 2 )]
F13 B 2 = s13 (21) ¢ s13 ( km13 B 2 ec13 + c13 B 2 e& c13 )(- rb12 /J1 - rb22 / J 2 +
J 2 ) + s13
Equation (4) can be transformed to a normalized rb1m13 B 2 R1B 2 /J1 + rb2 m13 B 2 R2 B 2 /J 2 ) (24)
3466 J. Cent. South Univ. (2013) 20: 3461−3470
3 Numerical calculation and effect analysis

of friction and damping
In order to calculate and discuss the characteristics

of antibacklash gear, the parameters are listed in Table 1.
The numerical calculation model is established in
Matlab/Simulink with the algorithm of fifthorder
RungeKutta, and fixedstep of 0.000 01 s.
Table 1 Parameters of antibacklash gear
Value
Parameter
g1 g2 and g3
Number of teeth zi 20 40
Modulus, m/mm 0.65 0.65
Pressure angle, αw /(°) 20 20
Addendum circle coefficient, ha 1 1
2
Moment of inertia, Ji /(kg•mm ) 0.051 5 0.258
Effective face width, w/mm 6.5 6.5
Tooth thickness, si/mm 0.8 0.8
Torsional stiffness of spring,
100 000 100 000
ktor/(Nmm∙rad −1 ) Fig. 6 Mesh stiffnesses of gear pairs g1g2 K1 (a), g1g3 K2 (b) and
Preload of torsional spring, Tp/(N∙mm) 1 000 1 000 composite mesh stiffness Ks (c) with reversal at 0.00 s
Modification coefficient, Xi 0.15 −0.15

Elastic modulus, E /(N∙mm −2 ) 2.1×10 5 2.1×10 5
Poisson ratio, v 0.3 0.3
Datum viscosity coefficient, ηs 0.04 0.04
−8
Lubricant viscosity coefficient, αl 1.33×10 1.33×10 −8
Initial rotation speed, ω0/(r∙min −1 ) 1 000 1 000
Drive torque, T1/(N∙mm) 100 100
Load torque, T2/(N∙mm) 200 200
Antibacklash gear is widely used for precision 1—Antibacklash gear; 2—Normal gear

mechanisms to reduce transmission error, especially back
Fig. 7 Mesh stiffness of antibacklash gear comparing with
lash. Figures 6(a) to (c) show the mesh stiffnesses of gear
normal gear pair
pairs g1g2 K1, g1g3 K2 and the composite mesh stiffness
Ks, respectively. speed 1 000 r/min, T1=100 N∙mm, T2=200 N∙mm is
As shown in Fig. 7, broken line represents the shown. In Dowson’s semirational formula, m is limited
stiffness curve of antibacklash gear, and the solid line in a range of [−0.08, 0.08], and m=0 at the pitch point,
represents normal gear pair with the same parameters, the farther the meshing point is away from pitch point,
reversal at 0.0 s. Curves show that the composite mesh the larger the absolute value of m is.
stiffness of antibacklash gear is larger than that of The dynamic responses x1, x2 and xtor of g1g2, g1g3
normal gear pair, and the back lash is eliminated in and g2g3 are shown in Fig. 9 and Fig. 10. In Fig. 9(a) and
antibacklash gear. Fig. 10(a), there are no sliding frictions and the only
In this work, the elastohydrodynamic (EHD) excitation is caused by the sudden changes in mesh
lubrication regime is assumed, and Dowson’s formula of stiffness. On including friction, as shown in Fig. 9(b) and
instantaneous coefficient of friction is adopted. In Fig. 8, Fig. 10(b), additional impulsive effects are observed at
instantaneous coefficient of friction m at initial rotation the pitch points of gear pairs g1g2 and g1g3 where the m
J. Cent. South Univ. (2013) 20: 3461−3470 3467
changes its sign. The other effect of friction is the In Figs. 11(b), (d), (f), the width of frequency band
reduction of rotation speed due to energy attenuation, in the same value of center frequency is wider than that
which is more significant than that of damping. in Figs. 12(b), (d), (f) without friction, and the amplitude
In Fig. 9 and Fig. 10, damping ratios ζ are 0.08 and is lower. As shown in Fig. 13, the declining curve
0.2, respectively. Obviously, larger damping ratio can represents the rotation speed of g1 with friction. This
reduce the vibration and impact due to gear pairs characteristic can also be observed from the frequency
meshing in and out. spectrum of dynamic response x1, x2 and xtor.
Fig. 8 Coefficients of friction at each meshing point for 1 000 r/min: (a) Point A1; (b) Point B1; (c) Point A2; (d) Point B2
Fig. 9 Dynamic responses x1 , x2 and xtor for 200 r/min, ζ=0.08: (a) Without sliding frictions; (b) With sliding frictions
3468 J. Cent. South Univ. (2013) 20: 3461−3470
Fig. 10 Dynamic responses x1, x2 and xtor for 200 r/min, ζ=0.2: (a) Without sliding frictions; (b) With sliding frictions
Fig. 11 Rotation speed of g1 for initial rotation speed of 2 000 r/min, ζ=0.08, without friction: (a), (c), (e) In time domain; (b), (d), (f)

In frequency domain
J. Cent. South Univ. (2013) 20: 3461−3470 3469
Fig. 12 Rotation speed of g1 for initial rotation speed of 2 000 r/min, ζ=0.08, with friction: (a), (c), (e) In time domain; (b), (d), (f) In
frequency domain
useful for further study on dynamic characteristics such

as vibration and noise of antibacklash gear and some
precision transmission mechanism with antibacklash
gear.
2) The back lash is eliminated in antibacklash gear,
and the composite mesh stiffness of antibacklash gear is
larger than that of normal gear pair. It is feasible to
increase the composite mesh stiffness by means of
increasing the torsional spring stiffness
3) Friction leads to degradation of energy and
impulses at the pitch points where the coefficients of
friction change their signs.
4) Damping ratio plays a significant role in the
Fig. 13 Rotation speed of g1 for initial rotation speed of suppression of the vibration and impact due to gear pairs
2 000 r/min, ζ=0.08
meshing in and out.
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