𝑃𝐸 = 𝐶𝐸 ∙ 𝜔𝐸 𝑃𝑆 = 𝐶𝑆 ∙ 𝜔𝑆

𝑃𝐸 = 𝐹𝐸 ∙ 𝑉𝐸 𝑃𝑆 = 𝐹𝑆 ∙ 𝑉𝑆

𝑃𝐸 = 𝐶𝐸 ∙ 𝜔𝐸 𝑃𝑅 = 𝐶𝑅 ∙ 𝜔𝑅 𝑃𝑆 = 𝐹𝑆 ∙ 𝑉𝑆
 𝜔
• 𝑟 = 𝜔𝑆
𝐸
𝑃
• 𝜂 = 𝑃𝑆
𝐸

ωS ωE
𝜔𝑆
𝑟=𝜔
𝐸
|𝑟 | < 1
|𝑟 | > 1

𝑃𝑆
𝜂=
𝑃𝐸
𝜂=1

𝑃𝑆 = 𝑃𝐸

𝜂<1
 𝑑
2 ⋅ 𝜋 ⋅ 𝑅1 2 ⋅ 𝜋 ⋅ 𝑅2 𝑚= ⇒𝑝=𝜋⋅𝑚
𝑝= = 𝑍
𝑍1 𝑍2

I
⃗ 𝐼 2/1 = 0
𝑉 ⃗

⃗ 𝐼 2/1 = 𝑉
𝑉 ⃗ 𝐼 2/0 − 𝑉
⃗ 1=0
⃗
𝐼
0

⃗ 𝑂 1/0 + →
⃗ 𝐼 1/0 = 𝑉
𝑉 𝐼𝑂1 ∧ ⃗⃗ 1/0 = 𝑅1 ⋅ 𝑦0 ∧ 𝜃̇1 ⋅ 𝑧0 = 𝑅1 ⋅ 𝜃̇1 ⋅ 𝑥0
1

⃗ 𝑂2 2/0 + →
⃗ 𝐼 2/0 = 𝑉
𝑉 𝐼𝑂2 ∧ ⃗⃗ 2/0 = −𝑅2 ⋅ 𝑦0 ∧ 𝜃̇2 ⋅ 𝑧0 = −𝑅2 ⋅ 𝜃̇2 ⋅ 𝑥0

−𝑅2 ⋅ 𝜃̇2 ⋅ 𝑥0 − 𝑅1 ⋅ 𝜃̇1 ⋅ 𝑥0 = 0

⃗ ⇒ 𝑅2 ⋅ 𝜃̇2 ⋅= −𝑅1 ⋅ 𝜃̇1 ⋅

𝜔𝑆 𝜃̇2 𝑅1
𝑟= = =−
𝜔𝐸 𝜃̇1 𝑅2

𝜔𝑆 𝜃̇2 𝑅1 𝑑1 𝑚 ∙ 𝑍1
𝑟= = =− =− =−
𝜔𝐸 𝜃1̇ 𝑅2 𝑑2 𝑚 ∙ 𝑍2
𝜔𝑆 𝑍1 𝑍𝑚𝑒𝑛𝑎𝑛𝑡𝑒
𝑟= =− =−
𝜔𝐸 𝑍2 𝑍𝑚𝑒𝑛é𝑒
• •

Dans le cas particulier d’un engrenage roue et vis sans fin, le

rapport de transmission est :

𝜔𝑟𝑜𝑢𝑒/0 𝑍 𝑍 : 𝑛𝑏𝑟𝑒 𝑑𝑒 𝑓𝑖𝑙𝑒𝑡𝑠 𝑑𝑒 𝑙𝑎 𝑣𝑖𝑠

𝑟= = 𝑍 𝑣𝑖𝑠 { 𝑣𝑖𝑠
𝜔𝑣𝑖𝑠/0 𝑟𝑜𝑢𝑒 𝑍𝑟𝑜𝑢𝑒 : 𝑛𝑏𝑟𝑒 𝑑𝑒 𝑑𝑒𝑛𝑡𝑠 𝑑𝑒 𝑙𝑎 𝑟𝑜𝑢𝑒
 𝜔𝑆/0 ∏ 𝑍𝑀𝑒𝑛𝑎𝑛𝑡𝑒𝑠
𝑟= = (−1)𝑛 ⋅
𝜔𝐸/0 ∏ 𝑍𝑚𝑒𝑛é𝑒𝑠

𝜔4/0
𝑟=𝜔 :
1/0

𝜔4/0 𝑍1 ⋅𝑍2𝑝 ⋅𝑍3𝑝 80⋅17⋅30

𝑟=𝜔 = (−1)2 ⋅ 𝑍 = 60⋅50⋅40
1/0 2𝑟 ⋅𝑍3𝑟 ⋅𝑍4

𝜔4/0
𝑟= = 0.23
𝜔1/0
 𝜔𝑆/0
𝑟𝐺 =
𝜔𝐸/0
 𝜔𝑆𝑜𝑟𝑡𝑖𝑒 𝑏𝑎𝑠𝑖𝑞𝑢𝑒/0 ∏ 𝑍𝑀𝑒𝑛𝑎𝑛𝑡𝑒𝑠
𝑟𝑏 = = (−1)𝑛 ⋅
𝜔𝐸/0 ∏ 𝑍𝑚𝑒𝑛é𝑒𝑠

𝜔𝑆𝑜𝑟𝑡𝑖𝑒 𝑏𝑎𝑠𝑖𝑞𝑢𝑒/0 𝑍1 ⋅ 𝑍2 𝑍1
𝑟𝑏 = = (−1)1 ⋅ =−
𝜔𝐸/0 𝑍2 ⋅ 𝑍3 𝑍3

𝜔𝑆𝑜𝑟𝑡𝑖𝑒 𝑏𝑎𝑠𝑖𝑞𝑢𝑒/0 − 𝜔𝑝𝑜𝑟𝑡𝑒 𝑠𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒/0

𝑟𝑏 =
𝜔𝐸/0 − 𝜔𝑝𝑜𝑟𝑡𝑒 𝑠𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒/0

𝜔3/0 − 𝜔4/0
𝑟𝑏 =
𝜔1/0 − 𝜔4/0
𝜔3/0 = 0

−𝜔4/0
𝑟𝑏 =
𝜔1/0 − 𝜔4/0

𝜔4/0
𝑟𝐺 =
𝜔1/0
𝜔4/0 𝑟𝑏 𝜔4/0 𝑍1
𝑟𝐺 = = 𝑟𝐺 = =
𝜔1/0 𝑟𝑏 −1 𝜔1/0 𝑍1 +𝑍3
 𝑣

•
o ⃗⃗⃗⃗⃗⃗
Ω10 = 𝜔𝐸 ∙ ⃗⃗⃗
𝑧0

o ⃗⃗⃗⃗⃗⃗⃗
Ω20 = 𝜔𝑆 ∙ ⃗⃗⃗
𝑧0
•
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃1 𝑐𝑜𝑢𝑟𝑟𝑜𝑖𝑒/0 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃2 𝑐𝑜𝑢𝑟𝑟𝑜𝑖𝑒/0
• ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃1 𝑐𝑜𝑢𝑟𝑟𝑜𝑖𝑒/1 = 0 ⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃2 𝑐𝑜𝑢𝑟𝑟𝑜𝑖𝑒/2 = 0 ⃗

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃1 𝑐𝑜𝑢𝑟𝑟𝑜𝑖𝑒/0 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃1 1/0
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃2 𝑐𝑜𝑢𝑟𝑟𝑜𝑖𝑒/0 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃2 2/0

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃1 1/0 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑂1 1/0 + ⃗⃗⃗⃗⃗⃗⃗
𝑃1 𝐴 ∧ ⃗⃗⃗⃗⃗⃗
Ω10
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃 1/0 = 𝑃1 𝐴 ∧ Ω10 ⃗⃗⃗⃗⃗⃗
1

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑂1 1/0 = ⃗0 𝐴

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃1 1/0 = 𝑅1 ∙ 𝑣 ∧ 𝜔𝐸 ∙ ⃗⃗⃗
𝑧0
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃 1/0 = 𝑅1 ∙ 𝜔𝐸 ∙ 𝑢
⃗
1

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑃2 2/0 = 𝑅2 ∙ 𝜔𝑆 ∙ 𝑢
⃗

𝑅1 ∙ 𝜔𝐸 = 𝑅2 ∙ 𝜔𝑆

𝝎𝑺 𝑹𝟏
𝒓= =
𝝎𝑬 𝑹𝟐
 𝑔)

𝜔𝑆 𝑅1 𝑍1
𝑟= = = 𝜔𝑆 𝑅1
𝜔𝐸 𝑅2 𝑍2 𝑟= = (1 − 𝑔) ∙
𝜔𝐸 𝑅2
𝑍𝑖

o 𝜆 = 𝑓 (𝜃) 𝜃 = 𝑓 −1 (𝜆)
𝑃
o 𝜂 = 𝑃𝑆
𝐸

𝑅 𝑦1
⃗⃗⃗⃗ 𝑦0
⃗⃗⃗⃗
(0; ⃗⃗⃗
𝑧0 ) 𝑥1
⃗⃗⃗⃗

𝜃
𝑥0
⃗⃗⃗⃗
𝑥0
⃗⃗⃗⃗

o ⃗⃗⃗⃗⃗ = 𝑅 ∙ ⃗⃗⃗⃗
𝐴𝑂 𝑦0 ⃗⃗⃗⃗⃗ = 𝜆(𝑡) ∙ ⃗⃗⃗⃗
𝐴𝐵 𝑥0 𝜆
 o ⃗⃗⃗⃗⃗⃗⃗⃗
Ω1/0 = 𝜃̇ ∙ ⃗⃗⃗
𝑧0

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 2/1 = ⃗0

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 2/1 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 2/0 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 0/1
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 1/0
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 1/0 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗𝑉𝑂 1/0 + ⃗⃗⃗⃗⃗
𝐴𝑂 ∧ ⃗⃗⃗⃗⃗⃗
Ω10
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗
𝑉𝐴 1/0 = 𝐴𝑂 ∧ Ω10 ⃗⃗⃗⃗⃗⃗

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝑂1 1/0 = ⃗0 𝐴

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 1/0 = 𝑅 ∙ ⃗⃗⃗⃗ 𝑦0 ∧ 𝜃̇ ∙ ⃗⃗⃗
𝑧0
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ̇
𝑉𝐴 1/0 = 𝑅 ∙ 𝜃 ∙ ⃗⃗⃗⃗
𝑥0
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 2/0
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 2/0 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ ∧ ⃗⃗⃗⃗⃗⃗⃗
𝑉𝐵 2/0 + 𝐴𝐵 Ω20
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴 2/0 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐵 2/0

⃗⃗⃗⃗⃗⃗⃗
Ω20 = 0 ⃗

⃗⃗⃗⃗⃗
𝑑𝐴𝐵
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐵 2/0 = ] = 𝜆̇ ∙ ⃗⃗⃗⃗
𝑥0
𝑑𝑡 𝑅
𝑂

𝜆̇ = 𝑅 ∙ 𝜃̇ 𝜆 = 𝑅∙𝜃

𝑧0
⃗⃗⃗ 𝜆

(𝐴; 𝑧⃗⃗⃗0 )

(𝐴; ⃗⃗⃗
𝑧0 ) 𝑝
⃗⃗⃗⃗⃗ = 𝜆(𝑡) ∙ ⃗⃗⃗
𝐵𝐴 𝑧0 ⃗⃗⃗⃗⃗⃗⃗⃗
Ω2/0 = 𝜃̇ ∙ ⃗⃗⃗
𝑧0
 𝑝 𝑝
𝜆̇ = ± 2∙𝜋 ∙ 𝜃̇ 𝜆 = ± 2∙𝜋 ∙ 𝜃

• 𝜼 ≈ 𝟎. 𝟐

• 𝜼 ≈ 𝟎. 𝟑𝟓

• 𝜼 ≈ 𝟗𝟓