Dr.

Pham Minh Tuan

Transmission Types

Hydraulic

Mechanical

Pneumatic

Electrical 2
 Merits & Drawbacks
Transmission type
Characteristics Mechanical
Electrical Hydraulic Pneumatic
Friction based Gear based

Distant transmission + ̶ ̶ ̶ ̶
Multi-speed transmission + ̶ ̶ + +
Continuous variable transmission + + ̶ + ̶
Accurate transmission ratio + ̶ ̶ ̶ +
High speed + + + + ̶
Non-sensitivity with temperature + ̶ + ̶ +
Working under high pressure ̶ + + ̶ ̶
Simple control + + + ̶ 3
̶
Abilities
• Transmit motions: from actuators to end-effectors.
• Transfer motions: continuous ↔ discontinuous, rotation ↔ translation,
change/switch direction.
• Transform speed: fast → slow (reducers), slow ↔ fast (accelerators),
multiple-separated speeds (gearboxes), continuously-variable speeds
(CVT gearboxes), …

4
Abilities
Conveyor system

Schematic diagram Actual machine

5
Classification
• Based on working principle:

Friction-based transmission Gear-based transmission

6
 Screw
Classification
• Based on transmission drives:

Worm Gear

Chain

Belt Gear
7
 Classification
• Based on ability of changing transmission ratio:

Speed reducer/accelerator Lathe gearbox Motorcycle gearbox

8
Classification
• Based on characteristic of changing transmission ratio:

Multi-speed gearbox CVT gearbox

9
Classification
Spindle gearbox
• Based on application:

Dividing head
gearbox
Feed gearbox 10
 Classification
• Based on covering capability:

Fully-covered gearbox
Uncovered gearbox 11
Classification
• Based on motion characteristic:

Simple motion Planetary motion 12

 Rotary Motion
πn
• Speed/Velocity: ω = ; ω: angular velocity (rad/s), n: rotation speed (rpm)
30
ωr πdn v: linear velocity of a point (m/s)
=
• Linear Velocity: v = ; r = d/2: distance from the point to the
1000 60000
rotation center (mm)
Ft v Tω Tn P: power (kW)
• Power:=
P = = ;
1000 106 9,55 ⋅ 106 Ft: tangent force (N); T: torque (Nmm)

ω1 n1 P2 T2 ω2 T2
• Transmission ratio:=
u u= = ; • Efficiency: =
η = =
ω2 n 2 P1 T1ω1 T1u
12

13
 Distribution of
Transmission Ratio

• Transmission ratio of the system (u):

n dc ndc: rotation speed of the motor (rpm)
u= ;
n n: rotation speed of the output shaft(rpm)
k
u= ∏
j=1
u
u j; j : transmission ratio of the j th sub-drive (belt, chain, gear, …)

k: total number of sub-drives in the system

14
 Selection of Electric Motor
• Equivalent load (Ptd):
2
 Ti 
n n
Pi2 t i ∑ ∑  T  ti
 
=Ptd =
=i 1 =i 1
n
P n

i
=i 1 =i 1
ti ∑t ∑ Diagram of dynamic load

P, T: maximum power (kW) and torque (Nmm) at the output shaft respectively
k
η
∏ : efficiency of the j th sub-drive
• Efficiency of the system (ηch): ηch = ηj; j

j=1
k: total number of sub-drives
Ptd
• Required power of the motor (Pct): Pct =
ηch 15
Speed Reducer
• Consist of one or a number of gear drives in a box.
• Used to reduce speed and transmit power with increased torque from
electric motor to end effector.
• High efficiency and reliability.
• Long service life.
• Easy to use.
• Can be selected from commercial models based on calculated power
and transmission ratio.

16
Single-Stage Spur/Helical-Gear Reducer
• Output torque: T = 250 ÷ 4000 Nm.
• Transmission ratio: u = 2 ÷ 6,3 (umax = 12,5).

17
Single-Stage Bevel-Gear Reducer
• Transmission ratio: umax = 6,3.
• When u ≤ 3, straight bevel gears are used.
• For higher transmission ratios, helical bevel gears are used.

18
Single-Stage Worm-Gear
Reducer
• Transmission ratio: u = 8 ÷ 80
(umax = 130).
• Various layouts of the worm-gear
train are applicable.
• Compact structure.
• High friction, low efficiency.

19
Dual-Stage Spur/Helical-Gear Reducer
• Transmission ratio: u = 8 ÷ 40.
• Simple structure.
• Loading is unequally distributed on bearings.
• Large dimensions.

20
Dual-stage Coaxial Reducer
• Input and output shafts distribute in the
same axis.
• Compact design.
• Loading capacity of the first stage gear
train is larger than necessary.
• Complicated bearing support structures.
• Difficult in lubricating.
• Big intermediate shaft.

21
Dual-stage Reducer with Split Double-
Helical Gears
• The split double-helical gear train can be
allocated at the first or secondary stage.
• Loading is equally distributed on all shafts
and bearings.
• Low stress concentration as gears are
allocated symmetrically.
• The width is large.
• Complicated structures.
• Use self-align bearings for shaft having
split double-helical gear train to eliminate
fabrication errors. 22
Dual-Stage Reducer with Bevel and
Spur/Helical Gears
• Transmission ratio: u = 8 ÷ 15.
• Bearings for input shaft having bevel
gear have specific layouts.

23
Dual-Stage Reducer with Worm Gear and
Spur/Helical Gear
• Transmission ratio: u = 50 ÷ 150 (umax = 480).
• Either the worm gear or the spur/helical gear
can be the first stage.
• Inherit the advantages and disadvantages of
both worm-gear and spur/helical-gear
reducers.

24
 Planetary Reducer
• High transmission ratio: umax = 12,5 (single-stage) and 150 (dual-stage).
• Compact design.
• Light weight.
• High efficiency.

Single-stage reducer Multi-stage reducer25

Continuously Variable
Transmission (CVT)

26
THE END