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Procedia Engineering 129 (2015) 87 – 92

International Conference on Industrial Engineering

Kinematic analysis of mechanism for converting rotational motion

into reciprocating rotational motion
Prikhodko A.A.a, Smelyagin A.I.a*
a
Kuban State Technological University, 2 Moskovskaya st., Krasnodar, 350072, Russian Federation

Abstract

The authors propose a distinctive construction of the planetary mechanism with elliptical gears designed to convert rotational
motion into reciprocating rotational (oscillating) one. We conducted a kinematic analysis of the mechanism, found the variation
of the rotation angle, the angular velocity analogue and angular acceleration analogue of the mechanism output shaft. The
developed mechanism is a classic planetary mechanism and is more reliable and compact in comparison with the lever and
electromagnetic inverters.
© 2015
© 2015TheTheAuthors.
Authors. Published
Published by by Elsevier
Elsevier Ltd.Ltd.
This is an open access article under the CC BY-NC-ND license
Peer-review under responsibility of the organizing committee of the International Conference on Industrial Engineering (ICIE-
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
2015).
Peer-review under responsibility of the organizing committee of the International Conference on Industrial Engineering (ICIE-2015)

Keywords: rotational motion; reciprocating rotational motion; elliptical gears; planet gear mechanism; kinematic analysis; angular velocity
analogues; angular acceleration analogues.

1. Introduction

Converters of rotational motion into reciprocating rotation (oscillating) motion are widely used in engineering [1-
4]. Transfer mechanisms, sewing and planing machines, non-traditional internal combustion engines, stirrers and
others are created on their principle. Most often, these converters are the coulisse mechanisms or four-bar linkages
[3, 4]. Also, electromagnetic mechanisms can be used as such converters [5].
The most compact and highly reliable converters of rotational into reciprocating rotational motion can be
obtained by creating them using only gear units. Since the use of spur gears does not allow to develop such

* Corresponding author. Tel.: +7-861-251-87-05.

E-mail address: asmelyagin@yandex.ru, sannic92@gmail.com

1877-7058 © 2015 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of the International Conference on Industrial Engineering (ICIE-2015)
doi:10.1016/j.proeng.2015.12.013
88 A.A. Prikhodko and A.I. Smelyagin / Procedia Engineering 129 (2015) 87 – 92

converters there we propose a planetary gear mechanism which contains spur and elliptical gears with properly
chosen parameters [6].
Planetary mechanism (Fig. 1) consists of a rack 0, the input shaft 1, the carrier 2, the output shaft 3, the sun
circular stationary gear 4, the elliptical gear 5, based on output shaft, a spur planet gear 6, the elliptical planet gear 7,
a shaft 8, connecting planet gears.

Fig. 1. Planetary mechanism with spur and elliptical gears.

In this mechanism, the gears 4 and 6 have the same diameters, and elliptical gears 5 and 7 have the same
semiaxis, and the axle base distances of spur and elliptical gears are equal. Reciprocating rotational motion is
provided by the variable transmission ratio of elliptical gears.

2. Kinematic analysis of the mechanism

To carry out the kinematic analysis we construct linear velocities plans of all mechanism links [7] (Fig. 2).
The angular velocity analogue of the output shaft 3 is defined as:

dM3 Z3 XC ˜ BO CCc ˜ BO
M3c , (1)
dM1 Z1 XB ˜ CO BBc ˜ CO

where ij3, Ȧ3 is the angle of rotation and the angular velocity of the output shaft 3; ij1, Ȧ1 is the angle of rotation and
the angular velocity of the input shaft 1.
 A.A. Prikhodko and A.I. Smelyagin / Procedia Engineering 129 (2015) 87 – 92 89

Fig. 2. Linear velocities plans.

As we can see from figure 2, point C changes its position relatively to the point A, at the same time the velocity
vector CC' changes its direction and value. In order to determine distances BC and CO, let’s consider the equation of
the ellipse in polar coordinates [8]. The focus of the driving ellipse 1 will be taken as the pole, and the major axis
will be taken as the polar axis (Fig. 3), then we will get the following ellipse equation [9]:

p
U (M x ) , (2)
1  e cosM x

p a(1  e 2 ), (3)

where ijx is a drive gear (indicated by pos. 7 in fig. 1) rotation angle; p is a ellipse focal parameter; e is eccentricity
of the ellipse; a is a semi-major axis of the ellipse.
90 A.A. Prikhodko and A.I. Smelyagin / Procedia Engineering 129 (2015) 87 – 92

Fig. 3. Elliptical gear.

Considering that CO=2a–ȡ(ijx), we get the following equation (1):

tgMbca ˜ AC ˜ BO U
M3c 1 . (4)
tgMbca ˜ AB ˜ CO 2a  U

By substituting (2) to (4) with transformations, we get:

p
M3c 1  . (5)
2a(1  e cos M x )  p

Since the diameters of the gears 4 and 6 are identical, then the angle Į in Fig. 3 is equal to the angle of rotation of
the input shaft ij1. Thus, the angles ijx and ij1 are associated with:

Mx M1  S . (6)

By substituting (6) to (5), we get the equation to calculate the angular velocity analogue ij'3(ij1):

p
M3c (M1 ) 1  . (7)
2a(1  e cos(M1  S ))  p

To determine the law of motion of the output shaft ij3(ij1) we integrate (7) according to the generalized coordinate
ij1:

ª § (1  e 2 ) ˜ tg (M  S ) · § ·º
M 3 (M1 ) M1  (1 e 2 )
˜ «arctg ¨ 1 ¸  arctg ¨ 2e ˜ sin(M1  S ) ¸». (8)
2 2
(1 e )  4 e 2
« ¨ (1  e 2 ) 2  4e 2 ¸ ¨ (1  e 2 ) 2  4e 2 ¸»
¬ © ¹ © ¹¼

We find the angular acceleration analogue after differentiation of equation (7) according to the generalized
coordinate ij1:
 A.A. Prikhodko and A.I. Smelyagin / Procedia Engineering 129 (2015) 87 – 92 91

2 p ˜ a ˜ e ˜ sin(M1  S )
M3cc(M1 ) (9)
(2a(1  e cos(M1  S ))  p) 2

Thus, equations (6)-(8) perform the kinematic model of the designed mechanism.

3. Results and discussion

As an example let’s investigate a planetary mechanism, shown in Fig. 1, having the following geometrical
parameters: d4=d6=50mm – diameter of spur gears; a5=a7=25mm – semi-major axes of elliptical gears; b5=
b7=20mm – semi-minor axes of elliptical gears; c5=c7=15mm – focal length; p5=p7=16mm – focal parameter;
e5=e7=0,6 – the eccentricity of elliptical gears; a=d4+d6=2a5=2a7=50mm – axle base distance.
Using the equations (7)-(9), we construct the function of the output shaft position, angular velocity analogue, and
angular acceleration analogue (Fig. 4).

Fig. 4. The functions ij3(ij1), ij3'(ij1), ij3''(ij1).

Analysis of charts shown in Figure 4 testifies that an output shaft of the studied planetary mechanism at the
unidirectional rotation of an input shaft will make a reciprocating rotational motion. This allows us to use this
mechanism in machines whose actuators make reciprocating rotational motion.
92 A.A. Prikhodko and A.I. Smelyagin / Procedia Engineering 129 (2015) 87 – 92

4. Conclusion

We proposed planetary mechanism for converting rotational into reciprocating rotational motion and conducted
its kinematic analysis. Since the designed mechanism consists of spur and elliptic gears and is a classic planetary
gear, it is compact and reliable. This proves the perspective to apply the proposed mechanism in various machine-
tools, stirred tanks, alternative internal combustion engines, drilling rigs and other devices and machines where
converting rotational into reciprocating rotational motion is necessary.

Acknowledgements

The research is done using scientific equipment of the Center of Shared Usage “The research center of
engineering, materials, construction, and transportation systems” in Kuban State Technological University.

References

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[4] A.A. Prikhodko, A.I. Smelyagin, RU Patent 2,528,843. (2014)
[5] A.I.Smelyagin, Maximal efficiency of an electromagnetic drive, Journal of mining science. 23(2) (1987) 154–158.
[6] A.I. Smelyagin, I.V. Yukhnevich, RU Patent 2,528,493. (2014)
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