ME-2092-Mechanics of Machines 1

Hook’s Joint

Department of Mechanical Engineering

University of Moratuwa
Sri Lanka

1
Contents
(1) Introduction..........................................................................................................3
(2) Theory .................................................................................................................4
(3) Procedure.............................................................................................................4
(4) Apparatus.............................................................................................................4
(5) Observations .......................................................................................................6
(6) Calculations.........................................................................................................8
(8) Discussion..........................................................................................................25

2
Introduction
The Hook’s joint or universal joint is a mechanism for transmitting rotary motion
between two shafts that are not parallel but intersect. Widely used for power
transmission in automobiles, heavy machinery to toy cars. It’s made up of two
yokes coupled with a cross-shaped member called the spider. The double hook
joint is used to connect the gearbox to the differential in rear-wheel drive vehicles.
The angle between shafts can affect the input to output speed ratio. In this
practical, we are going to determine the output speed variation depending on the
angle between shafts.

3
Theory
θ – Deviation angle of the axes of shafts
α – Rotation angle of the input shaft
β – Rotation angle of the output shaft

β̇ cos θ
=
α̇ 1−cos2 α sin2 θ

Procedure
• Set the deviation angle to 300 of one hook’s joint and other to 00.
• Change the input angle from 50 and measure the output shaft angle.
• Change the deviation angle to 500 and repeat the above process.
• Using the pair of hook’s joints set the deviation angles to 300 keeping
both shafts parallel.
• Measure output angle while changing input angle in 50.
• Repeat above process with deviation angles of 500.

Apparatus
• Double hook’s joint setup

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Single hook’s joint
 α Vs β for hook’s joint θ = 300

α β 120 117
125 122
0 5 130 128
5 10 135 134
10 15 140 140
15 20 145 146
20 24 150 151
25 28 155 156
30 33 160 163
35 38 165 168
40 41 170 174
45 45 175 180
50 49
55 54
60 58
65 63
70 67
75 71
80 76
85 80
90 85
95 89
100 95
105 101
110 105
115 112

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6
 α Vs β for hook’s joint θ = 500

α β 120 107
125 116
0 15 130 122
5 19 135 133
10 24 140 138
15 26 145 147
20 30 150 154
25 34 155 165
30 37 160 169
35 40 165 176
40 43 170 182
45 47 175 188
50 50
55 52
60 55
65 59
70 62
75 65
80 69
85 72
90 75
95 80
100 85
105 91
110 95
115 103

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  Speed ratio (β./α). Vs α for hook’s joint θ = 300

α Practical Theoretical 120 1 0.92376

125 1.2 0.943637
0 1 1.154701 130 1.2 0.965785
5 1 1.151784 135 1.2 0.989743
10 1 1.14321 140 1.2 1.01492
15 0.8 1.12948 145 1 1.040586
20 0.8 1.111366 150 1 1.065877
25 1 1.089818 155 1.4 1.089818
30 1 1.065877 160 1 1.111366
35 0.6 1.040586 165 1.2 1.12948
40 0.8 1.01492 170 1.2 1.14321
45 0.8 0.989743 175 1.028571 1.151784
50 1 0.965785
55 0.8 0.943637
60 1 0.92376
65 0.8 0.906502
70 0.8 0.892115
75 1 0.880776
80 0.8 0.872603
85 1 0.867673
90 0.8 0.866025
95 1.2 0.867673
100 1.2 0.872603
105 0.8 0.880776
110 1.4 0.892115
115 1 0.906502

For α = 450,
cos 30
Theoretical value = = 0.9897
1−cos 2 45sin 2 30
∆β ∆α
=4 =5
∆t ∆t
4
Practical Value = 5 =0.8

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10
  Speed ratio (β./α). Vs α for hook’s joint θ = 500

α Practical Theoretical 120 1.8 0.753301

125 1.2 0.796573
0 0.8 1.555724 130 2.2 0.848521
5 1 1.539119 135 1 0.909706
10 0.4 1.491834 140 1.8 0.980401
15 0.8 1.42057 145 1.4 1.060294
20 0.8 1.334079 150 2.2 1.148077
25 0.6 1.240935 155 0.8 1.240935
30 0.6 1.148077 160 1.4 1.334079
35 0.6 1.060294 165 1.2 1.42057
40 0.8 0.980401 170 1.2 1.491834
45 0.6 0.909706 175 1.074286 1.539119
50 0.4 0.848521
55 0.6 0.796573
60 0.8 0.753301
65 0.6 0.718046
70 0.6 0.690164
75 0.8 0.669089
80 0.6 0.654367
85 0.6 0.645666
90 1 0.642788
95 1 0.645666
100 1.2 0.654367
105 0.8 0.669089
110 1.6 0.690164
115 0.8 0.718046

For α = 450,
cos 50
Theoretical value = 2 2 = 0.9097
1−cos 45sin 50
∆β ∆α
=3 =5
∆t ∆t
3
Practical Value = 5 =0.6

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Pair of hook’s joints
 α Vs β for hook’s joint θ1 = 300 , θ2 = 300

α β 120 119
125 124
0 0 130 127
5 5 135 133
10 10 140 138
15 15 145 143
20 20 150 147
25 25 155 153
30 30 160 158
35 35 165 163
40 41 170 170
45 45 175 174
50 50
55 55
60 60
65 65
70 70
75 75
80 80
85 84
90 88
95 94
100 100
105 105
110 108
115 113

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14
 α Vs β for hook’s joint θ1 = 500 , θ2 = 500

α β 120 118
125 123
0 2 130 126
5 8 135 131
10 13 140 137
15 18 145 144
20 24 150 148
25 28 155 153
30 33 160 158
35 37 165 161
40 42 170 161
45 47 175 167
50 51
55 56
60 61
65 65
70 69
75 75
80 79
85 83
90 88
95 95
100 99
105 102
110 108
115 115

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  Speed ratio (β./α). Vs α for hook’s joint θ1 = 300 , θ2 = 300

α Practical Theoretical 120 1 1

125 0.6 1
0 1 1 130 1.2 1
5 1 1 135 1 1
10 1 1 140 1 1
15 1 1 145 0.8 1
20 1 1 150 1.2 1
25 1 1 155 1 1
30 1 1 160 1 1
35 1.2 1 165 1.4 1
40 0.8 1 170 0.8 1
45 1 1 175 0.994286 1
50 1 1
55 1 1
60 1 1
65 1 1
70 1 1
75 1 1
80 0.8 1
85 0.8 1
90 1.2 1
95 1.2 1
100 1 1
105 0.6 1
110 1 1
115 1.2 1

For α = 450,
cos 0
Theoretical value = =1
1−cos 2 45sin 2 0
∆β ∆α
=5 =5
∆t ∆t
5
Practical Value = 5 =1

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  Speed ratio (β./α). Vs α for hook’s joint θ1 = 500 , θ2 = 500

α Practical Theoretical 120 1 1

125 0.6 1
0 1.2 1 130 1 1
5 1 1 135 1.2 1
10 1 1 140 1.4 1
15 1.2 1 145 0.8 1
20 0.8 1 150 1 1
25 1 1 155 1 1
30 0.8 1 160 0.6 1
35 1 1 165 0 1
40 1 1 170 1.2 1
45 0.8 1 175 0.954286 1
50 1 1
55 1 1
60 0.8 1
65 0.8 1
70 1.2 1
75 0.8 1
80 0.8 1
85 1 1
90 1.4 1
95 0.8 1
100 0.6 1
105 1.2 1
110 1.4 1
115 0.6 1

For α = 450,
cos 0
Theoretical value = =1
1−cos 2 45sin 2 0
∆β ∆α
=4 =5
∆t ∆t
4
Practical Value = 5 =0.8

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  Speed variation (1 - β./α). Vs α for hook’s joint θ1 = 300 , θ2 = 300

α Practical Theoretical 120 0 0

125 0.4 0
0 0 0 130 -0.2 0
5 0 0 135 0 0
10 0 0 140 0 0
15 0 0 145 0.2 0
20 0 0 150 -0.2 0
25 0 0 155 0 0
30 0 0 160 0 0
35 -0.2 0 165 -0.4 0
40 0.2 0 170 0.2 0
45 0 0 0.00571428
50 0 0 175 6 0
55 0 0
60 0 0
65 0 0
70 0 0
75 0 0
80 0.2 0
85 0.2 0
90 -0.2 0
95 -0.2 0
100 0 0
105 0.4 0
110 0 0
115 -0.2 0

For α = 450,
β̇
Theoretical value = 1− α̇ = 1-1 = 0

Practical Value = 1−1=0

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  Speed variation (1 - β./α). Vs α for hook’s joint θ1 = 500 , θ2 = 500

α Practical Theoretical 120 0 0

125 0.4 0
0 -0.2 0 130 0 0
5 0 0 135 -0.2 0
10 0 0 140 -0.4 0
15 -0.2 0 145 0.2 0
20 0.2 0 150 0 0
25 0 0 155 0 0
30 0.2 0 160 0.4 0
35 0 0 165 1 0
40 0 0 170 -0.2 0
45 0.2 0 0.04571428
50 0 0 175 6 0
55 0 0
60 0.2 0
65 0.2 0
70 -0.2 0
75 0.2 0
80 0.2 0
85 0 0
90 -0.4 0
95 0.2 0
100 0.4 0
105 -0.2 0
110 -0.4 0
115 0.4 0

For α = 450,
β̇
Theoretical value = 1− α̇ = 1-1 = 0

Practical Value = 1−0.8=0.2

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Discussion
Applications of hook’s joint
Due to uneven road surfaces wheels and the gearbox must have the ability to move
vertically relative to each other in vehicles. Pair of hook’s joints are used to
transmit torque from gear box to the differential via a tail shaft. Therefore, chassis
articulation can be achieved without compromising the consistent wheel velocities.

Hook’s joints are used in automobiles to transmit the rotational motion of the
steering wheel to the steering rack.

Advantages of Hook’s joint

• Simple in Construction.
• Can connect non-parallel axes shafts.
• Large range of angular displacement.
• Able to take high torques.
• High torque transmission efficiency.
Disadvantages of Hook’s Coupler
• Fluctuating velocity of the output.
• Cannot be used for high speed applications.
• Lubrication required to reduce wear.
• Often maintenances are required.
• Doesn’t support axial misalignment.

Input shaft angle variation Vs Output shaft angle variation

By comparing the above plots, we can conclude that shaft angle fluctuation
increases with the deviation angle. Resulting in fluctuations in angular velocities.
Therefore it’s essential to use an intermediate link and a pair of hook’s joint in
constant velocity applications.

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