Robotika

Robot Locomotion : Gear

Reference : Design of Machinery, 3rd ed. Robert Norton 2003

Prodi Sistem Komputer

Universitas Komputer Indonesia
 Rolling Cylinders
• Gear analysis is based on rolling cylinders
• External gears rotate in opposite directions
• Internal gears rotate in same direction

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 2

 Gear Types
• Internal and external gears
• Two gears together are called a gearset

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 3

 Fundamental Law of Gearing
• The angular velocity ratio between 2 meshing gears remains constant
throughout the mesh
• Angular velocity ratio (mV)
• Torque ratio (mT) is mechanical advantage (mA)

Input

ωout rin din

v = ωr mV = = =
ωin rin = ωout rout ωin rout d out
ωin rout d out
mT = = =
Output
ωout rin din

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 4

 Involute Tooth Shape

• Shape of the gear tooth is

the involute curve.
• Shape you get by
unwrapping a string from
around a circle
• Allows the fundamental
law of gearing to be
followed even if center
distance is not
maintained

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 5

 Meshing Action

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 6

 Contact Geometry
• Pressure angle (f): angle between force and motion

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 7

 Fundamental Law of Gearing
• The common normal of the tooth profiles, at all contact points within the mesh, must
always pass through a fixed point on the line of centers, called the pitch point

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 8

 Change in Center Distance
• With the involute tooth form, the fundamental law of gearing is
followed, even if the center distance changes
• Pressure angle
• increases

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 9

 Backlash
• Backlash – the clearance between mating teeth measured at the pitch circle
• Whenever torque changes sign, teeth will move from one side of contact to another
• Can cause an error in position
• Backlash increases with increase in center distance
• Can have anti-backlash gears (two gears, back to back)

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 10

 Gear Tooth Nomenclature
• Circular Pitch, pc=pd/N
• Diametral Pitch (in 1/inch), pd=N/d=p/pc
• Module (in mm), m=d/N

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 11

 Interference and Undercutting
• Interference – If there are too few pinion teeth, then the gear cannot turn
• Undercutting – part of the pinion tooth is removed in the manufacturing process

For no
undercutting
f Min #
(deg) teeth
14.5 32
20 18
25 12

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 12

 Gear Types
• Spur Gears
• Helical Gears (open or crossed)
• Herringbone Gears
• Worm Gears
• Rack and Pinion
• Bevel Gears

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 13

 Spur Gears
• Straight teeth
• Noisy since all of the tooth contacts at one
time
• Low Cost
• High efficiency (98-99%)

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 14

 Helical Gears
• Slanted teeth to smooth contact
• Axis can be parallel or crossed
• Has a thrust force
• Efficiency of 96-98% for parallel and 50-90% for crossed

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 15

 Crossed Helical Gears

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 16

 Herringbone Gears
• Eliminate the thrust force
• 95% efficient
• Very expensive

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 17

 Rack and Pinion
• Generates linear motion
• Teeth are straight (one way to
cut a involute form)

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 18

 Worm Gears
• Worm gear has one or
two teeth
• High gear ratio
• Impossible to back
drive
• 40-85%
efficient

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 19

 Bevel Gears
• Based on rolling cones
• Need to share a common tip

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 20

 Other Gear Types

• Noncircular gears – give a different

velocity ratio at different angles
• Synchronous belts and sprockets –
like pulleys (98% efficient)

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 21

 Simple Gear Trains

N 2 N3 N 4 N5
ωout = ωin
N3 N 4 N5 N6
N2
= ωin
N6
• Maximum gear ratio of 1:10 based on
size constraints
• Gear ratios cancel each other out
• Useful for changing direction
• Could change direction with belt

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 22

 Compound Gear Trains

• More than 1 gear on a shaft  − N 2  − N 4 

ωout =   ωin
• Allows for larger  N3  N5 
gear train ratios

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 23

 Compound Train Design

ωin 2  N 2  N 4 
ωin    = ωout
 N3  N5  2
 N2 
4
If N2=N4 and N3=N5 ωin   = ωout
3
 N3 
2
ωin  N 3  Reduction ratio
=
5
ωout 
ωout  N 2 
Will be used to determine the no. of stages given a reduction
ratio

2 stages

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 24

 Compound Train Design

• Design train with gear ratio of 180:1

• Two stages have ratio 180 = 13.4164 too large
 N3  3
• Three stages has ratio 180 = 5.646
3
  = 180 = 5.646
 N2 
• At 14 teeth
Pinion Teeth * ratio Gear teeth
actual ratio is
3 12 5.646 67.7546
 79 
  = 179.6789
 14  13 5.646 73.4008
• OK for power
14 5.646 79.0470
transmission;
not for phasing 15 5.646 84.6932
16 5.646 90.3395
Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 25
 Compound Train Design: Exact RR

• Factor desired ratio:

180=22x32x5
• Want to keep each ratio
about the same (i.e.
6x6x5)
• 14x6=84
• 14x5=70
• Total ratio
2
 70  84  We could have used:
   = 180 180=2x90=2x2x45=2x2x5x9=4x5x9
 14  14  or 4.5x6x(20/3) etc.
Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 26
 Manual Transmission of Vehicle ( Car)

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 27

 Manual Synchromesh Transmission
• Based on reverted compound gears

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 28

 Reverted Compound Train

• Input and output shafts are aligned

• For reverted gear trains:
R2+R3=R4+R5
D2+D3=D4+D5
N2+N3=N4+N5
• Gear ratio is

ωout N 2 N 4
=
ωin N3 N5
Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 29
 Design a reverted compound gear train
for a gear ratio of 18:1
 N3  N5 
18=3x6 N3=6N2, N5=3N4    = 18
N2+N3=N4+N5=constant  N 2  N 4 
N2+6N2=N4+3N4=C  N3   N5 
 =6  N =3
7N2=4N4=C  N2   4
➢ Take C=28, then N2=4, N4=7
➢ This is too small for a
gear! Choose C=28x4=112 (say)
• N2=16, N3=96,
• N4=28, N5=84

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 30

 Planetary or Epicyclic Gears

• Conventional gearset has one DOF

• If you remove the ground at gear 3, it has two DOF
• It is difficult to access w3

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 31

 Planetary Gearset Planetary Gearset
with Fixed Ring with Fixed Arm

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 32

 Planetary Gearset with Ring Gear Output
• Two inputs (sun and arm) and one output (ring) all on
concentric shafts

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 33

 Different Epicyclic Configurations
• Gear plots are about axis of rotation/symmetry

bearing
Ring (internal)

teeth

Axis of
symmetry
Sun (external)

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 34

 Compound Epicycloidal Gear Train
• Which picture is this?

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 35

 Tabular Method For Velocity Analysis
• Basic equation: wgear=warm+wgear/arm
• Gear ratios apply to the relative angular velocities

Gear# wgear= warm wgear/arm Gear

ratio

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 36

 Example
Given:
Sun gear N2=40 teeth
Planet gear N3=20 teeth
Ring gear N4=80 teeth
warm=200 rpm clockwise
wsun=100 rpm clockwise

Required:
Ring gear velocity wring

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 37

 Tabular Method For Velocity Analysis
N2=40, N3=20, N4=80 Sign convention:
warm= -200 rpm (clockwise) Clockwise is negative (-)
wsun= -100 rpm (clockwise) Anti-clockwise is positive(+)

Gear# wgear= warm+ wgear/arm Gear

ratio
2 -100 -200 100 40
−
20
3 - 400 -200 -200
20
+
4 -250 -50
80
-200
w4= - 250 rpm

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 38

Tabular Method For Velocity Analysis
• N2=40, N3=20, N4=30, N5=90
• warm=-100, wsun=200

Gear# wgear= warm+ wgear/arm Gear

#2 200 -100 300 ratio
-40
#3 -100 -600 20
1
#4 -100 -600
30
90
#5 -300 -100 -200

Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 39

 Equation Method For Velocity Analysis

ωout − w arm product of driver gears

=
ωin − w arm product of driven gears
• N2=40, N3=20, N4=30, N5=90
• warm=-100rpm, wsun=200

ωout − (− 100) (-40)(30)

=
200 − (− 100) (20)(90)
− 12
w out = 300 − 100 = −300
18
Pertemuan 4 : Robot Locomotion Chapter 3 - Gear 40