A Single Speed (CVT) Transmission

K. Ivanov1,2, G. Balbayev1,2
1
Almaty University of Power Engineering and Telecommunication,
Almaty, Kazakhstan, e-mail: ivanovgreek@mail.ru,
gani_b@mail.ru
2
Institute of Mechanics and Mechanical Engineering after
Academician U.A. Dzholdasbekov, Almaty, Kazakhstan

Abstract

The subject of research is a planetary train with two planetary rows and two carriers.
The plot of linear speeds of the mechanism with two carriers shows an unexpected
phenomenon: each carrier has direct kinematic constraint with satellite of opposite
row. The interacting point of satellite with the carrier can be presented in the form of
an engagement of the additional wheels connected to the satellite and to the carrier.
Additional constraint creates brand new phenomena in the theory of mechanisms and
machines. Paper presents the analysis of a phenomenon of additional constraint in the
planetary train.

Keywords: planetary train, two carriers, additional constraint

1. Introduction
The planetary wheelwork, as is known [1], contains carrier, satellite,
solar wheel and ring wheel. The mechanism with two carriers can be
get by join of two oppositely located planetary trains. In the
combined planetary train solar wheels are combined in the block of
solar wheels, ring wheels are combined in the block of the ring
wheels, each satellite is located on the carrier, and carriers are
external links. The planetary train with two carriers has two
planetary rows and two degree of freedom.
The plot of linear speeds of the mechanism with two carriers
shows an unexpected phenomenon. At construction of the plot of
linear speeds of the mechanism some general point of carrier and
satellite has been detected [2]. Speeds of the carrier and the satellite
in this point are equal. On the stopped carrier this point represents
the instant centre of turn of the satellite concerning the carrier. The
interacting point of satellite with the carrier can be presented in the
form of an engagement of the additional wheels connected to the
satellite and to the carrier. The found point of interacting of links
defines additional constraint.
Paper is devoted to expanded analysis of a phenomenon of
additional constraint in the planetary train.

2. Kinematic Analysis of the Planetary Train with Two Carriers

The planetary train with two carriers and its plots of linear speeds are
presented in fig. 1. The planetary train (Fig. 1 a) contains carrier H1,
satellite 2, block of solar wheels 1-4, block of ring (epicyclical)
wheels 3-6, satellite 5 and carrier H2. Mechanism has two degree of
freedom and two input links - carriers H1 and H2. We will perform
the kinematic analysis by means of the plot of linear speeds.
At first we will construct the plot of linear speeds at motionless
carrier H2 (Fig. 1 b). In Fig. 1 linear speeds are denoted by horizontal
vectors, angular velocities are denoted by inclined lines. We specify
angular velocity 5 of satellite 5 and we line the angular velocity
line through point K. We construct speeds V6 and V4.
We line a line of angular velocity 3 through point A and
terminus V6. We construct vector V3.
We line a line of angular velocity 1 through point Aand
terminus V4. We construct vector V1.
 We line a line of angular velocity 2 of satellite 2 through the
terminuses V1 and V3. We construct vector VH1 and a line of carrier
H1 angular velocity  H 1 .
The constructed plot of speeds contains surprising result: lines of
angular velocity  H 1 of the carrier H1 and angular velocity 5 of
the satellite 5 are cross in one point S5 and define terminus V7 of some
point S5 belonging simultaneously to the carrier H1 and the satellite 5.
Speeds of these two points of different links are coinciding. Such
point S5 can be realized practically in the form of a pitch point of two
toothed wheels 7 and 8 (it is shown by a dot line). The wheel 7 is
rigidly connected with the satellite 5, the wheel 8 is rigidly connected
with the carrier H1. Obviously at constant angular velocity of carrier
H1linear speed V7 of a point S5 of a wheel 7 should be constant, and
the point S5 should occupy an invariable position. To be convinced of
it we will construct the plot of linear speeds of the mechanism for the
general case (  H 2  0 ) at former angular velocity of the carrier
H1, and angular velocity of a wheel 2 we will change (fig. 1 c).
We specify angular velocity 2 of the satellite 2 and we will
line a line angular velocity 2 through terminus VH1. We construct
speeds V1 and V3.
Let's line a line of angular velocity 3 through point A and
terminus V3. We construct vector V6. We will line a line of angular
velocity 1 through point A and terminus V1. We construct vector
V4.
 Fig. 1. Planetary train with two carriers and its plots of linear speeds
We line a line of angular velocity 5 of the satellite 5 through
the terminuses V4 and V6. Position of intersection point S5of line of
angular velocity 5 and line of angular velocity  H 1 remains
invariable. The vector V7 has former magnitude and defines
simultaneously speed of the input carrier H1and the output satellite 5.
The found point S5 we name the centre of coincidence of speeds of
carrier and opposite satellite.
In the turned motion at the motionless carrier H1 the point S5 is
the instantaneous center of turn of the satellite 5 concerning the
carrier H1.
Singularity of the found phenomenon consists in the following.
The carrier and opposite satellite have no direct connection and
perform independent motions. But the speeds of some contact point
of these links are equal in each instant time. Practical realization of
such point is possible in the form of engagement of two toothed
wheels. One wheel belongs to the carrier; other wheel belongs to the
satellite.
Let's prove analytically an invariance of this contact point
position on the mechanism. It is possible most simply to install the
point S5 position using the plot of linear speeds of the mechanism in
initial position (fig. 1 b) when the speed VH1 is specified and carrier
H2 is stopped VH2 =0 (point K).
In this case the vector V7 of the conditional wheel 7 rigidly
connected with the satellite 5, lined out of point S5, is simultaneously
a vector of speed V8 of the conditional toothed wheel 8 rigidly
connected with the input carrier. The point S5 position is defined by
radius of a conditional toothed wheel 7. We will determine the radius
out of a condition
V7  V8
(1)
Let's express linear speeds through angular velocities 7  5 ,
8   H 1 and radiuses of wheels r7, r8  rH 2  r7 . Taking into
account directions of angular velocities we will get next result
 5 r7   H 1 ( rH 2  r7 )
(2)
The formulas of angular velocities of planetary mechanism with
two carriers are presented in article [3]. The carrier H2 in the
considered instant time is motionless,  H 2  0 . Therefore
5  u56
( H 2)
6 . Then
( H 1)
1  u13
6  3   H 1 ( H 1) ( H 2)
,
u13  u45
u13( H 1)   z3 / z1 , u 46( H 2 )   z 6 / z 4 , u56( H 2 )  z6 / z5 .
After substitution of these magnitudes in the equation (2) there
will be a cancellation of angular velocity  H 1 . From the equation
(2) we will get the next
( H 1)
( H 2) 1  u13
u56 ( H 1)
r  rH 2  r7
( H 2) 7
(3)
u13  u46
From the equation (3) we will define radius of a conditional
wheel 7
 ( H 1) ( H 2)
u13  u46
r7  rH 2 ) H 2) ( H 2)
(4)
u56 (1  u46 )
The equation (4) does not contain angular velocities; hence, the
radius of a wheel 7 and a point S5 position does not depend on
magnitudes of angular velocities. The point S5 occupies a constant
position on the plot of linear speeds.
Appearance of the centre of coincidence of speeds S5 of two
independently moving links represents brand new phenomenon in the
mechanics.
To fathom mechanical essence of a phenomenon we will consider
habitual concept of the transfer ratio. The transfer ratio (or the ratio
of angular velocities) can be expressed through force parameters (the
moments of forces) on the basis of law of conservation of energy. In
the presence of ideal constraints between input link 1 and output link
2
M 11  M 22 (5)
From here we will get next transfer ratio for the mechanism with
one degree of freedom
u12  1 / 2  M 2 / M 1 (6)
The equation (6) divides force and kinematic parameters.
It is necessary to note that the law of conservation of energy can
be used only in that case when the kinematic chain has the kinematic
and structural definability. For example, this law can be applied to
the mechanism with two degree of freedom only in the presence of
two initial (input) links. The considered planetary train with two
degree of freedom and with one input has structural and kinematic
definability due to additional constraint. But in this mechanism the
separation of force parameters from kinematic parameters is
impossible because when having constant input angular velocity
 H 1  const the output angular velocity  H 2 can be variable
(fig. 1 b, 1 c). The line of angular velocity 5 of satellite 5 can
rotate around the centre of coincidence of speeds S5 (terminus V7) and
can change speed VH2 of output carrier. Considering the named
regularity in the mechanism with two carriers we will present the law
of conservation of energy matching the formula (5) in a following
aspect
 H 2  M H 1 H 1 / M H 2 (7)
Formula (7) defines brand new phenomenon in the mechanics and
in the theory of machines and mechanisms: effect of force self-
regulation. If constant input power takes place then the output
angular velocity inversely proportional to output resistance moment.

3. Start-up of Mechanism with Two Carriers

Two alternatives of start-up of the mechanism are possible:

1. Moment of resistance less than the driving moment (or it is
equal to it).
2. Moment of resistance more than the driving moment.
At the first we will consider the first alternative.
The mechanism with two carriers has major property at start of
motion. At the stopped output carrier the mechanism has one degree
of freedom. The transfer of force to the output carrier is impossible
in the absence of a moment of resistance on the output satellite.
Theoretically it is not possible to create start-up without this
moment. However additional constraint in the centre of coincidence
of speeds transforms the kinematic chain into a rigid structure with
zero mobility. Such design cannot be set in motion. But the
mechanism with two carriers has the major structural feature. All
rotational kinematic pairs connecting links of a mechanism with a
rack are located on one axis. This structural feature allows to rotate
the absolutely rigid structure around a motionless axis and to begin
mechanism motion. Thus there is no necessity to create a resistance
secondary moment on the output satellite. Equilibrium of a rigid
structure at starting is defined by the equation of the moments
concerning a motionless axis. At presence only output resistance on
the output carrier the driving moment on the input carrier is equal to
a starting torque.
M H1  M H 2 (8)
After the beginning of motion the mechanism passes in a
condition with two degree of freedom with relative motion of links
by increase in a moment of resistance.
The second alternative defines the motion beginning when a
starting torque more than the driving moment.
It leads to a conditional stop of the moving mechanism which
allows transferring force from the input carrier to supporting point
K of the satellite 5 in the absence of resistance moment on the
satellite. The increase in the input power transferred to the satellite 5
will lead to increase in force R5H2 transferred in point K on the
motionless carrier and to the beginning of its motion.
Constraint between input and output moments is defined by
formula (8) taking into account that MH1 is the input moment of the
mechanism driving the satellite 5 with motionless supporting point
and MH1=R5H2rH2 - moment keeping in a motionless condition a
supporting point of satellite 5.

5. Conclusion

The phenomenon of the centre of coincidence of speeds provides

appearance of additional constraint in considered kinematic chain
with two degree of freedom. Additional constraint reduces number
of a degree of freedom of the kinematic chain per unit. The
considered kinematic chain with two carriers is the mechanism at
presence only one input link. Thus the mechanism gets brand new
properties. The mechanism with two carriers creates effect of force
self-regulation.
 The found brand new effect of force self-regulation provides the
possibility of mechanism to adapt independently for variable force
loading. Independent adaptation is performed only at the expense of
mechanical properties of the mechanism without any control
system. Practical implementation of the found effect opens brand
new prospects of creation of engineering industry manufactures.
One of the most perspective aspects of new self-controlled
engineering is the self-controlled toothed variator replacing the
heavy and bulky gear box of the car.
Simplicity and ideal adequacy of a self-controlled gear variator
to working conditions create incontestable advantages in front of
operated step gear boxes and frictional variators.

References

[1]. Artobolevsky I.I. Theory of mechanisms. Publishing house "Science".

Moscow. 1967. 720 p.
[2]. Ivanov K.S. Paradox in Mechanism Science. 1-st International Symposium
on Education in Mechanism and Machine Science. June, 1&14.2013. Madrid.
Spain. P. 132-138.
[3]. Ivanov K.S. Creation of Adaptive-Mechanical Continuously Variable
Transmission. 5th International Conference on Advanced Design and
Manufacture (ADM 2013). Valencia. Spain. 2013. PP 63-70.