ME-2092-Mechanics of Machines 1

Equivalent Moment of Inertia

Department of Mechanical Engineering

University of Moratuwa
Sri Lanka
Contents
Introduction.................................................................................................................................................3
Theory.........................................................................................................................................................4
Procedure....................................................................................................................................................6
Apparatus....................................................................................................................................................6
Observations...............................................................................................................................................7
Calculation...................................................................................................................................................8
Discussion..................................................................................................................................................12
Introduction
For a geared system estimation of equivalent moment of inertia is possible when the masses and
dimensions of the shafts and gears are known. It is also possible to determine the equivalent
moment of inertia by measuring the acceleration for a known torque. This method is useful when
a system enclosed. The experiment is to study these two methods in detail.
Theory
Notations:
w - effort applied
T - tension in string
W - load
W0 - dead load
R - radius of the gear wheel pulley
R0 - radius of the gear wheel
R - radius of the worm wheel pulley
Ieq - equivalent moment of inertia
θ̈ - angular acceleration
f - linear acceleration
t - time taken to fall a distance h
h - distance fallen by mass
m - mass
g - acceleration due to gravity
rv - velocity ratio
η0 - no load efficiency
n - gear ratio
N - Number of teeth of the gear wheel
p - Circular pitch of helical gear

The linear effort load relationship of the machine is,

 w = (1/ η0 rv) (W+W0)
(a) Torque applied = Tr = Ieq θ̈ --------(1)
Mg – T = Mf --------(2)
rθ =f --------(3)
h = (1/2) ft2 --------(4)

From (1), (2), (3) & (4),

t2 = (Ieq.2h/r2.g)(1/M) + (2h/g)
y= m x + c

(b) Ieq = I2 + (I1 / η0n2)

Work output ( W +W 0 ) × x
(c) η0 = Work input =
w× y
( W +W 0 ) x
w=
η0
× (y)
( W +W 0 )
w=
η 0 × rv

( )
0 v
1
w= η r W+ η r
0 v
( )
W0

y = m x + c

(d) np = R0θ --------(1)

2πR0 = Np --------(2)
x = Rθ --------(3)
y = 2πr --------(4)

(x)
rv = y --------(5)
From (1), (2), (3), (4) & (5),
rv = Rn ( rN )
Procedure
 Two threads were wrapped around both pullies.
 Weight carriers were tied to the threads.
 Marked 100cm s from the ground held the weight carrier little bit above the
mark.
 Known weights were added to gear wheel pully.
 Then added weights to the worm wheel pully until is start to move.
 We measured the time taken to reach the ground by added weights.
 Repeated three times to make sure there are no errors.
 Add weights of 200g until 1000g.
 Measure circumference of both pullies using a string.

Apparatus
Standard weights
Weight carriers
Meter ruler
Stopwatch
Threads (nylon) (nylon)
Observations
Type of worm = 2 start
Number of teeth in the wheel = 50
Circumference of the gear wheel pulley = 52.4 cm
Circumference of the worm wheel pulley = 32.1 cm
ρ = 7.3gcm-3

W (g) 200 400 600 800 1000

w (g) 250 280 310 330 360

H = 100cm Time(s)
M (g) 1st reading(s) 2nd reading(s) 3rd reading(s)
200 2.11 1.8 1.81
400 0.99 0.92 0.93
600 0.8 0.8 0.81
800 0.72 0.71 0.75
1000 0.66 0.62 0.62
 W (g) w (g)
200 250
400 280
Calculation 600 310
Practical method
800 330
n=2 1000 360
N=50
0.524 m
R= 2π
= 0.083397 m

0.321
r= 2 π = 0.0510887 m

rN 0.0510887 x 50
rv = Rn = 0.083397 x 2 = 15.3148855

Gradient = 0.135
1 1
no r v
= 0.135 n0 = = 0.483676
0.135∗15.3148
 1/M (kg-1) t2
5 3.635378
2.5 0.896178
1.666667 0.645344
1.25 0.528044
1 0.401111

Gradient = 0.8185
2h I eq
2 = 0.8185
gr
2× 1× I eq
2
=¿ 0.8185
9.81× 0.05108873673

I eq=0.010808858 kgm2
Theoretical method

Second moment of inertia for 1st part

∑ 12 M R 2= 12 ∗7300∗π∗( 0.06 ) ∗0.028∗(

2 )
2 2
0.06
+¿
2

1
2
∗7300∗π∗
0.21 2
2 ( )
∗0.04∗
0.21 2
2
−¿ ( )
0.15 4 0.06
(( ) ( ) )
4
1 2
∗7300∗π∗0.016∗ − kg m
2 2 2

I1 ¿ 2.6007 ×10−4 +5.5752× 10−2−5.6565 ×10−3=50.35557 ×10−3 kg m2

Second moment of inertia for 2nd part

1 1 0.025 2
(
0.025 2
∑ 2 M R = 2 ∗7300∗π∗ 2 ∗0.15∗ 2 +¿
2
) ( )
1
2
∗7300∗π∗( ) ( )
0.045 2
2
∗0.08∗
0.045 2
2
+¿

∗7300∗π∗( ) ∗0.025∗(
2 )
2 2
1 0.105 0.105
−¿
2 2

∗7300∗π∗( ) ∗0.01∗(
2 )
2 2
1 0.075 0.075 −3 2
=2.2281 ×10 kg m
2 2

Second moment of inertia for 3rd part

∑ 12 M R 2= 12 ∗7300∗π∗0.0325∗ ( 0.165 ) −(
( 2 ) )
4 4
0.125 −3 2
=11.5775× 10 kg m
2

I1 50
I eq=I 2 + where n is gear ratio. (n= ∧η=1)
ηn 2
2

Moment of Inertia of the worm + worm pulley (I1)

 −3 2
¿ ( 50.35557+11.5775 ) ×10 kg m
−3 2
¿ 61.9331× 10 kg m
Moment of inertia of wheel + wheel pulley (I2)¿ 2.2281× 10−3 kg m2

Theoretical Moment of inertia,

I1 50
I eq=I 2 + where n is gear ratio. (n= ∧η=1)
ηn 2
2

−3 61.9331 ×10−3 −3 2
I eq=2.2281×10 + 2
=2.372×10 kg m
1× 25

Theoretical value for Moment of inertia = 2.372 ×10−3 kg m2

Practical value for Moment of inertia = 10.483 ×10−3 kg m2

Discussion
Worm wheel drives can be categorized as self-locking mechanisms. Typical spur
gears can transmit drive in both ways (back driving is possible). In worm wheel
drives worm can drive the gear even though the reverse operation locks the
mechanism. Geometry of the mechanism restrict this reverse operation. As long as
the worm's lead angle's tangent is greater than the coefficient of friction between
the gear and the worm mechanism will be locked. This may take place either in
static or dynamic states. Generally, its used under static condition.
Advantages of self-locking mechanism
High reduction ratios can be achieved.
Can be used when input and output shafts are perpendicular.
Compact design, hence small space required.
Reactions on the output shaft not transmitted to input. Can be used in steering
systems.
Can be used where loading against gravity is required.
Disadvantages of self-locking mechanism
High wear and heat generation due to friction.
High stresses on tooth due to little contact area.
Reasons for deviation in practical and theoretical values.
Slight deviation in weights used from marked value.
Human errors in measuring time.
Frictional forces between gears may affect motion of weights.
Play between gears due to wear can affect time measurements.