Determination of Angle or As mentioned above, if the values of Pa, PQ and the angle ot are known, thy uinism can be drawn to a suitable scale in different positions and the actual angle can be noted fv sllterent values of 8. The values of 8 and @ matching with theoretical values provides the position of tn \ehicle for correct steering on the left and right. However, for initial design of the steering, usually angle « is obtained by assuming the steering in a position in which the projections of 4 and 4’B’ on PQ are equs (Fi.6 2200) Projection of BB’ on PQ = Projection of 44’ on PO QB [sin (a+ 8) sin a] = PA [sin ce sin ( ~ 0] sin (+ 8)~sin ce= sin or sin (- a) (Pa = QB) (in a cos 6+ cos a sin 8) — sin a= sin @+ sin g cos a cos @sin cr sin a (cos + cos 2)= cos ax(sin g- sin 8) sina ___sing-sin@ cosa cos8+ 0s 9 sin 8 eos 0+ 60s G2 tana = 63) where @and gare the values of angles for the correct gearing, (66 HooKe’s jornt A Hooke’ joint Fig. 623), commonly known 8 universal oi, is used connect vo non-parallel and iterscting sha. ial used for shafts with angular ON pusatovoe nat misalignment. A common application of this joint is in an automobile where it is used to transmit power from the gear box (of the engine) to the rear axle, The driving shaft rotates at a uniform angular speed ‘whereas the driven shaft rotates ata continuously varying angular speed. ‘The shafts | and 2 rotate in the fixed bearings. A complete revolution of either shaft will cause the other to rotate through a complete revolution in the same time, but with varying angular speed. Each shaft as a fork a its end. The four ends of the two forks are connected by a centre piece, the arms of which rest in the bearings, provided in the forks ends, The centre piece can be in the shape of across, square or sphere (having four pins ot arms). The four arms of the cross are at right angles. Let two horizontal shafts, the axes of which are at an angle a, be D ‘connected by a Hooke’s joint. IF the joint is viewed along the axis of the 7 shat !, the fork ends of this shaft will be 4 and B as shown in Fig. 6.24 Fig. 6.26) ‘C and D are the positions assumed by the fork ends of the shaft 2. The> Lower Pairs 198) axis of the shaft 1 is along the perpendicular to the plane of paper at O and that of the shaft 2 along O4. When viewed from top, ¢ ‘and d, projections of C and D coincide with that of O whereas a and b remain unchanged As the shaft is rotated, its fork ends 4 and B, are rotated in a circle (Fig. 6.25). However, the fork ends C and D of the shaft 2 will move along the path of an ellipse, if viewed along the axis Of the shaft 1. In the top view, the motion of the fork ends of the shaft | is along the line ab whereas that of the shaft 2 on a line 2d’ at an angle of ato ab Let the shaft | rotate through an angle @ so that fork ends assume the positions 4, and By, Now, the angle moved by the shaft 2 would also be when viewing along the axis of the shaft 1 Let the fork end C take the position C,. However, the true angle tumed by the shaft 2 would bbe when it is viewed along its own axis. In Fig. 6.26, the front view of the joint is shown, when viewing along the axis of the shaft 2. Here, Cand D move in a circle, ‘The point C; lies on a circle at the same height as it is fon the ellipse in Fig, 6.25 This gives the true angle pat ot A @ tumed by the shaft 2. andB ‘and D tang __£C{/EO Fi tan ‘EC, / EO ig. 625) (Fig. 6.25 top view) “ee ree, 1 tan 8 = cos tan @ (64)Angular Velocity Ratio de) Loyang ogo (=) oye yong tan (= Differentiating Eq. 6.4 with respect to time t, 2928. 2949 seo? 0-2P = cose sec? p SP dgide sec? 0 dOid cosasec™ @ oy “@,~ “cos? cosa (+ tan? py 2 (14 t2n?@ tan @ cos? Bcos af 1+— p= ane Gere (ay) (wo-Se) 1 in? cos? @cos of 1+ SI" wo tara 0s? 8 cos? a 03? 6 cos 0 (COs? B eas? art cos? O(1—sin?® a) +sin® 8 cos or @= cos? Osin® a +sin® @ 63) @ or cos a= or cos?Teas a ro sin2@ ) cos? rot] * of cos) T+ 08a sin? @ +1=14c080r o tan? 66) Thus, @= «or the velocities ofthe driven and the driving shafts are equal when the condition is fulfilled ns possible once in all the four quadrants for particular values of @ if ais constant. i) 22 is minimum when the denominator of Eq. (6.5) is maximum, ty en Eq. (6.5) i.e, (1 ~ sin? «cos? 6) is maximum. This is so when cos? 6 is minimum, or B= 90" or 270° Then, 22 = cosa. 6D oo (iy “> ismaximum when the denominator of Eg, (6.5) 8 minimum, i.e. (1 ~sin? arcos* 6) is minimum, w 8= 0° or 180° @, __ cosa cos o @ T=sin?a costa cose ‘he variation inthe speed ofthe driven shaft corresponding to the rotation Uiving shaft is shown in Fig, 6.27. Points ‘e” correspond to the angular lncements of the driving shaft when the angular velocity of the driven is equal to that ofthe driving shaft. Points ‘min’ and ‘max’ correspond to nyular displacements ofthe driving shaft when the angular speeds of the shaft are the minimum and the maximum respectively. Airephcally, the variation of angular velocity of the driven shaft can be ted by an ellipse whereas that of the diving shaft, by a circle (Fig ) Nuch a diagram is known as apolar velocity diagramMuxunun variation of velocity of the driven shaft ofits mean velocity But peas Of the driven shaft is equal to the angular velocity a of the driving shaft as both the shafts complete ‘one revolution in the same period of time. @, (C08 &— @ cos (C08 a a (Min) cos @ ot = i = tan asin a (6.10) Be - If aris small, ie. the angle between the axes of the two shatts is small, sin a= tan a~ a Maximum variation = a2 (The mean speed ais not equal to rotation of the driven shaft.) == Orn 3s the variation of speed is not linear throughout the Angular Acceleration of Driven Shaft Differentiating Eg. (6.5) with respect to time (« = constant) do; cose dt sin? cos? @ , dod cosa__) or acceleration = 0.7 — aaa) 2 d 2 ercos? oy" = 0 cos a —F5-(I~sin? a cos? 8) F €08 af (-1) (I -sin? aeos? @)> Csin* a) (2 cos 6) (sin 6) oF 608 asi d=sin? cos? 8) sin 20 in | This is maximum or minimum when ‘The resulting expression being very cumbersome, the result can be approximated to 2sin? a cos 29 = So 6.12) 2-sin? a Ce This gives the maximum acceleration of the driven shaft corresponding to two values of @ in the second and the fourth quadrants whereas the minimum acceleration (maximum retardation) corresponds to @ values in the first and the third quadrants. Care is to be taken to keep the angle between the two shafts to the minimum possible and not to attachLower Pies cessive masses to the driven shaft. Otherwise, very high alternating stresses due to the angular acceleration retardation will be set up in the parts of the joint, which are undesirable. Sxample 68 Determine the asim permissible angle benven the ©: haf ares ofa universal jon if the driving shah roots 1 800 rpm and te toa fc of sped does not exced 60pm. As, id the maxim tnd the minimum tpects of the ven shop tution: Ny=800 rpm 2p ~ ain = 60 pm ‘ehave Maximum variation, inn rnie _ 1~008 a c= cos SDE ecaia 300 ~ cos 7 or 1 ~cos? @-0.075 cos a= 0 cos? @ + 0.075 cos a= 1 (cos a + 0.0375)? = 1 + (0.0375 = 1.0014 = (1.000 703)? ‘cos a= 1,000 703 ~ 0.0375 = 0.963 203 = 15.62 Maximum speed of driven shaft 01963 203 30.6 rpm Minimum speed of driven shaft = Nj cos @=800 * 0,963 203 = 770.6 pm cys) aaa! sore @ mee Balen lrg fr is + 5% of the mean speed, determine nears popes toy AeA Bolution N,= 400 rpm. ‘Maximum variation in speed = 0.1 (0.05 + 0.05 = 0.1) L-cos? a cos 1 cos? a~0.1 cos a= 0 cos? a+ 0.1 cos. (eos a+ 0.05) 1,001 25)? 1 + (0.05)? = 1.0025 cos a= 1,001 25 ~ 0.05 = 0.951 25 = 17.96° or 17° 58° ‘Minimum speed of driven shaft 400 095 125 eos = 420.5 0m Minimum speed of driven shaft =, cos a= 400 x 0.951 25 = 380.5 rpm Example 6.10 A Hooke’s joint connects two shafts whose axes intersect at 25%. What will be the angle turned by the driving shaft when the (@) velocity ratio is maximum, minimum and unity? (@) acceleration of the driven shaft is ‘maximum, minimum (negative) and zero? Solution: ( (@) e/a, is maximum at @= 0° and 180° (b) 4/0 is minimum at @= 90° and 270° (©) eyo, is unity when tan @ = +veosa = +Ve0s 35" £0952 or 8 316°2: 43°35", 136°25', 223°35', and (i) Acceleration of driven shaft is maximum or ‘minimum when 2sin? a 2=sin? a cos 20 =B04 ew or 28 = 78°42", (360° + 78°42"), (720° — 78°42’) ‘or 8= 39°21, 140°39', 219°21" and 320°39 Now. 78°42), (360° acceleration Thus, acceleration is positive when sin 20 is negative and is negative when sin 20 is positive. ‘Corresponding to four values of 26 found above, sin 26 will be +ve, ve, *ve and -ve respectively. Maximum acceleration will be at 140°39" and 320°39" and minimum acceleration (-ve) will be at 39°21’ and 219°21 Acceleration is zero when @y/a, is maximum or ‘minimum, ie., at 0°, 90°, 180° and 270°, Or acceleration is zer0 when 20 is zero or when 26iis 0°, 180°, 360°, $40” or when Bis 0°, 90°, 180° and 270°. Example 6.11 The angle berween te axes of ‘wo shafts joined by Hooke’ joint is 25% The driving shaft rotates at a uniform speed of 180 rpm. The driven shaft carries a steady load of 7.5 kW. Calculate the mass of the fiywheel of the driven shaft if its radius of gyration is 150 mm and the ouput torque of the driven shaft does not vary by more than 15% of the input sha. Solution: N, = 180 rpm pe 28x 180 co k=015m —— AT=15% Maximum torgfe on the driven shaft will be When the acceleration is maximum, ie., when. 2sin: sin? 25° 20= 78°47’ or 281°18" Maximum acceleration “10 0s sin? 05 (= sin® a cos? (62) cos (I= Sin? 25° co = 10.677 rads? P=Ta, 1500 = 1x 6 Input torque, 7= 397.9 N.m Permissible variation = torque due to of driven shaft 397.9 « 0.15 = for= mk? or or 397.9 0.15 = m x (0.15)? * 70.677 eration m= 37.53 kg Example 6.12 4 Hooke’ joint connects rwo shafis whose axes intersect at 18°. The driving shaft rotates at a uniform speed of 210 rpm. The driven shaft with attached masses has a mass of 60 kg and radius of gyration of 120 mm. Determine the torque required at he driving shaft fa steady torque of 180 Nim resists rotation of the driven shaft and the angle of rotation is 45° (i) angle between the shafts at which the total fuuctuation of speed of the driven shaft is limited to 18 rpm Solution: m=60kg k= 120mm —-N=210rpm QnN __2nx210 60 60 Maximum acceleration o 22 radls ~af cos asin? asin 20 (i=sin? cos? 8? (22)? cos 18° sin? 18° sin 90° 43.956 0907 948.47 ads? The negative sign indicates that it is retardation at the instant. Torque required for retardation of the driven shaft =Tar= mk2.a 60 x 0.122 x (- 48.47) ==41.88 Nm