A Parametric Study of Spur Gear Dynamics PDF
A Parametric Study of Spur Gear Dynamics PDF
A Parametric Study of Spur Gear Dynamics PDF
ARL-CR-419
/ CRm1998-206598
U.S. ARMY
RESEARCH
A Parametric
Hsiang
The
University
Prepared
National
Study
Chuen-Huei
of Memphis,
under
Grant
Aeronautics
Space
Administration
Lewis
Research
January
1998
LABORATORY
Center
and
Liou
Memphis,
NAG3-1686
of Spur
Tennessee
Gear
Dynamics
Available
NASA Center for Aerospace
Information
800 Elkridge Landing
Road
Linthicum
Heights,
MD 21090-2934
Price Code: A05
from
National
Technical
Information
Service
A PARAMETRIC
STUDY
ABSTRACT
A parametric
approach.
the dynamic
behavior
in resonance
into consideration
investigated
vibration.
effect
Typical
The analytical
of the
contact
dynamic
values
as reported
a numerical
simulator,
analysis
to determine
of these deflections
performance.
study.
in the literature
through a parameter
by adjusting
The dynamic
The
favorable
through
of
on
was investigated.
Damping
analysis.
effect
load and
and compared.
dynamic
stress
was
The contact ratio was varied over the range of 1.26 to 2.46
Gears with contact ratio near 2.0 were found to have the most
CHAPTERI
INTRODUCTION
Power transfer
Compared
is necessary
small overall
dimensions,
constant
members,
engineering
systems continue
to improve.
advancement
are improvements
of transmission
Today's engineers
their
Therefore,
of power.
they
and researchers
needs of advancing
life, operating
considering
simplicity.
for transmission
power systems.
transmission
in mechanical
in mechanical
efficiency,
technology.
and reliability.
Their
They also
of gear
transmissions.
Research
generated
behavior
assembly
from gearing
is vibration
by geometric
High dynamic
of a gear transmission.
efficiency,
concerted
processes.
improve
gear transmission
deviations
Minimizing
gear dynamic
The problem
of dynamic
ASME Research
Committee
report indicated
a procedure
with manufacturing,
gear
behavior
load carrying
These studies have been on: (1) The localized tooth stress effects
(2) the overall global dynamic
associated
of noise
At
and
of the systems.
loads acting on gear teeth was first studied in the early 1930's by the
and tests were conducted
to determine
load increment
the dynamic
[1 ]. Their
due to dynamics
of gears
in meshand the
method
of determining
equivalent
spring-mass
excitations.
Cloutier
time varying
form solution
the dynamic
stiffness.
In 1977, Cornell
of a dynamic
the dynamic
stiffness
effects
the engagement
teeth.
load.
transfer
method
vibrations
modes.
In 1984, Iwatsubo,
evaluate
included
the effects
modeling
technique
popular
to perform
modifications
of the
had significant
the compliance
the response
Ozguren
and Houser
the same
of the gear mesh.
matrix method
Tedious
code.
torsional
of mesh stiffness
problems.
without considering
by writing appropriate
analysis.
tooth to
of the adjacent
model to determine
of periodic variation
beam with
of a cantilever
closed
Hamad
computer
spring.
spring as a
a time history,
and disengagement
modeling
vibration
[5] developed
This dynamic
as an
to wedge or sinusoidal
Several
He obtained
gear meshing
problem
subjected
and Westervelt
He considered
to
computation
Finite element
Since
are
Also,
in simple gear
models.
analyzed
the dynamics
of a gear transmission
system in different
Their models treated either the shaft and bearing of gear system or the gear teeth as rigid
bodies depending
when subjected
deflections
of shafts and
To evaluate
bearings,
analysis
to conduct
behavior
The computer
of low-contact-ratio
this study.
The dynamic
by the dynamic
Two different
in the study.
such as damping
examined
computer
simulation
results revealed
gear designer
for minimum
dynamic
to determine
the
load should
code DANST
gear-shaft
their influence
more accurately,
are rigid
and contact
ratio are
on gear dynamics.
parameter
when designing
types were
The
CHAPTER
SYSTEM
II.1
System
II
CHARACTERISTICS
Configuration
Gears are used to transmit power and/or angular motion between shafts. There exists a wide
variety of types of gears with each serving a range of functions.
spur gear system was used and its model is illustrated in Figure II.1, in which several basic
elements
such as flexible shaft, rolling element bearing, motor, and load are shown. The static
properties
of the components
of materials,
introduced
lubrication,
A set of governing
stiffnesses,
inertias,
by a numerical
assumptions:
stiffness
II.2
A parametric
and determine
Basic Geometry
They will be
are symmetrical,
effects are
and solved
and out-of-plane
of Spur Gear
such as
Those solutions
is defined m rotating
not considered.
damping factors,
method through
of gearing, mechanics
investigations.
equations
evaluate
and to
I II
MOTOR
i
i
I
i
i
I
i
i
I
_....J.._.
i
t
$ttAI_
LOAD
02
OE_R 2
Figure
II.1
A simple
curve
4)(pressure angle)
T
generating
line
radius
vector
angle)
base
circle
For a spur gear the teeth lie parallel to the axis of rotation
case. The analytical
geometry
any fixed point on a tangent line as this line rolls, without slipping around a circle.
may be visualized
unwound
as unwinding
This process
a string from a circular disk. The circle from which the string is
involute curve at point c and point b, at which it is tangent to the base circle, is the same as its
length as it was when wrapped
geometrical
relationship
0:00:0oll r 1
- R_ = Rbt 3
13 -
as follows:
(ILl)
(II.2)
(II.3)
Rb
where
P_ radius of base circle
r radius to any point of involute
13 angle through
hence
(II.4)
the
Thisisthepolarequationof theinvolute
curve.The tangenttotheinvolute
atany pointis
perpendicular
tothegenerating
lineand theshapeoftheinvolute
isdependentonlyon thediameter
ofthebase circle.
II.2.2 Contacting
Involute Curve
Consider the action of two involute gear teeth transmitting angular motion by means of shafts
as shown in Figure I[.3.
The line (AB) is called the Line of Action and it is a line tangent to the
two base circles at point A and point B. If point C moves along involute is revolved at a uniform
rate of motion, it changes the length of generating line (AE) uniformly.
the generating
length of the common tangent (AB) of the two base circles remains constant.
between two involutes takes place along the line of action. The relative rate of motion depends only
upon the relative sizes of two base circles while the relative rates of rotation
are independent
of the
II.2.3 Rolling
for the
case of two involute gear teeth meshing with each other, the meshing action is a combination
of
rolling and sliding. Figure 11.4 shows two gears with equal size base circles which mesh with each
other.
the two profiles must slide over each other during mesh to make up the
lengths.
Base
Circle
02
?itch
Circle
Pitch
Circle
Circle
Figure II.3
Meshing
diagram
of an izvolut_
gear pair
GEAR [I
Figure
II.4
Profile length
difference
lO
between
two
Under this
condition,
as"
Vs
Rc2
col
Re2
co2
(lI.S)
12
are obtained:
12V
t01 -
01.6)
Rl, l
co2 -
Rp_ _
R1,2
V-
2=Rp1
12
Rcl
+ Re2
(11.7)
ID_ to1
12
(II.8)
= C sin d_
(11.9)
Re1 = _/ r_ - R_I
Rc2
= _] r_ -R_,
(11.10)
= C sin
- R_,I
where
Rpl
, Rp2
profile, in
(II.11)
W1, W2 : angular
velocity
C : center distance,
of gear, rad/min
in
velocity
Vs : sliding velocity,
dp : pressure
of gears, ft/min
ft/min
angle, degree
Vs
II.3
I V(Rvl
+ Rr_)l(_]r_
Rvl RP2
/
J"
Elastic Deflection
equation
R_,-
and Stiffness
can be rewritten
Rp_ sindp
of Spur Gear
([1.12)
Teeth
compliance
tooth as a cantilever
effects.
expressed
foundation
compression,
deflection.
of the deflection
of the
flexibility
of the load.
along a line normal to the tooth profile. Since the gear tooth is stubby, both the
and the shear effects are essential.
To calculate
Io which extends
by dividing
materials
theory,
formulas
detailed
to R.W. Comell's
Secondly,
According
is based on a combination
The nonlinear
as:
both deflection
illustrations
and derivations
cantilever
first, it is assumed
strength
are depicted
were presented
12
length
and compliance
procedure
tooth deflection,
in the following
in the previous
sections.
More
The
of
cc
--
'
Y
lo
Segment
wj
_X
X i
i+l
Xj
Figure
II.5 Geometry
and
of a gear tooth
13
11.3.1 Bending
Deflection
(A) Displacement
qw)ij
due to Wj cos Sj
w__
_e_,,
3 Ee Ii
(B) Displacement
w__
_j(g L_)
2 E_ Ii
(II.13)
wj ( Lj cos _j
qM)ij
yjsin
[3j)(_)
2 Ee Ii
(II.14)
Wj
(Lij
COS _j-Ysin
Ee
_j)(Ti
Lij)
Ii
where
Ti : thickness
of segment i
E_ : "effective Young's
module of elasticity"
load
of other variables
to Comell
: E_=E/(1-v
2)
3.4
F/Y<5
: Ee=E
at pitch point
II.3.2
Shear deformation
( qs
))ij =
1.2 Wj
Ti
cos
_j
G Ai
component
2.4 ( 1 + v ) Wj Ti cos
Ee Ai
13j
(11.15)
where
G : shear modulus
of elasticity
sin
Wj
(qc)ij =
Wj sin Bj is
Tt
(II.16)
E At
( q' )tj _
( qw
qM qs )ij cos
_j
-I-
15
(11.17)
co# 13j[ _
ql)ij
Lij + Ti L_
E---7-L3i .
Ii
Yj
2 Ii
(II.18)
cs2
]E__3J [ 2"4(1
A_
+v)T_
sin2
Ti]E=
[3J I _
cos: 13_Ti
( qt )ij = Wj
E
(II.19)
Ii
2.4(1+v)
+ tan 2 pj }
Ai
II.3.4
Flexibility
Both the fillet length and angle will affect the deflection.
According
to the study in
Ref. 5, the fillet angle gf should be taken as 75 degrees and 55 degrees for low contact ratio gears
16
(LCRG)andhigh
deflections
contact
caused by flexibility
respectively.
are"
co$2
(qr,,)0
_j
= W j{_
EC
+ (T_)_
+ (Ta,)i
(L_)ij2.4(1
+ v)(Tfb)
(If,),
(A_)i
.2o)
cos
2
+ (Lr*)iJ](if0)i
(T_)i
YJ
EC
+ sin2IE, _J [_Tf_)i
Ar_)i
(qfo)ij
Wj
cos 2 I_j (1
E_ F
- v 2 ){
16.6___77 (hflf)i f
rc
aL21)
+ 1.534
1 +
j
2.4(1tan213+v)
) }
17
cos
(qfb)
13j ( Tfb )i
= W j{
EC
+
( I_ )i
(II.22)
tan _J[(Tcb)i (Lcb)ij2
YJ]
(
If,
2.4(1+v)
+ Yj
)i
+ tan: 13j
]}
(qf,)ij
{ 16.67
--
Wj
cos 2 IBj (1
E, F
+ v:)
[(1,)il
(II.23)
+ 1.534 [
1+
}
2.4(1
+ v)
where
qe, : deflection
qfc : deflection
due to foundation
of fillet.
effects.
principle,
(11.24)
18
of load due to
If
-,---...,.
Rr
i-J
'V
if
Found_on Region
!,
Figure
II.6
Flexibility
of fillet
19
and
Rcgioa
foundation
Deflection
of cylinders
and compression
deformations.
According to
in rolling bearings.
error.
deflection
for a pair of
1.275
(qL)ij
(II.2S)
E '912FsW_f I
2 El E:
E_2 -
01.26)
E1 + E2
II.3.6
Tooth Stiffness
(q.r)j
"_[(qw)ij
as:
+ (qM)ij
+ (qr.)ii]
(11.27)
i=1
Furthermore,
equivalent
20
( K_ )i
(KG),,_
where
Wj
( qT )j
(II.28)
1 _
(KG)i
- n i=,
(II.29)
concentrated
deflection
of the gear teeth will be affected by changing the mass moment of inertia and the
coming into contact at point E on the right and the preceding tooth on the left is in contact
at point
G. It should be noted that the contact starts at E and ends at H, where the outside diameter of the
gear or the pinion intersect the line of action.
Thus, two pairs of teeth carry the load during this period. When the contact
tooth pair TGt passes point H, this tooth pair loses contact,
carry the load.
two pairs of teeth T_ and TG3carry the load until tooth pair T_2 leaves contact
at point E. Again,
at point H. The
position of the contact point of gear teeth along the line of action usually is expressed
roll angles of the driving gear.
This expression
is also consistent
21
point of
with our
in term of
I
!
Pinion
( Dr_ver )
\
\
%
I.Lncof Action
%
%
\
I
I
I
I
I
I
I
I
I
I
I
I
!
I
I
!
I
I
I
O0
22
action
calculations,
driving gear.
II.5 Transmission
Error
The transmission
angular
motion.
nominal value.
error fiE)
(A) Combined
deflection
of meshing teeth
error
( E_T)j
dErk
r=l
+
j
'_
pErk
r =1
+ [P]
j
E
r=l
,E_
j
fu.3o)
where
k : the mating tooth pairs in sequence
r : driving and driven gears
P : ifk =1 then P = 0, otherwise
dE : deflection
P = 1
Since the transmission error is the same for each tooth pair sharing the total transmitting load
(W), it can be expressedas:
= ...
gI.31)
(c_)+l
w--E
(II.32)
equations
(II.30, II.31, and ]I.32). It should be noted that the meshing analysis
are only valid under the assumption that there arc n tooth pairs simultaneously
in contact
II.6 Torque
Due to Friction
Some semi-empirical
[25], and
and Loewenthal's formulas [26], were used in this study m determine the friction torques
in a later chapter.
formula:
_ 0.0______5
+ 0.002 _
e0.125
(II.33)
V,
4f
f,
formulas have
(II.34)
3
24
2f
(11.35)
fr
where
f : average
coefficient
of friction
f_ : average
f_ : average coefficient
of friction of recess
and Loewenthal's
formula:
45.4 W
f = 0.0127
VR
log
(11.36)
F Uo Vs V_
= 0"2094nRpl[sin_b'(
S (mg2R_l" 1)]1
(II.37)
where
f : average
coefficient
of friction
absolute
viscosity,
lbf-sec/in:
S : absolute
distance,
in, from pitch point to contact point along the line of action
n : rotating
speed, rpm
can be estimated.
II.7
Flexible
Element
a overhung
direction.
assembly
thus, the force Fr_ exerted on the driven gear causes a reaction
qo-
P ab
6EI1
a shaft deflection
can be calculated
position.
From mechanics-of-
as:
(a 2 + b2 + 12 )
(II.38)
a2
3E I (1 + a )
(II.39)
26
T keeps the
qG -
with
rolling
This
system is statically
Bearing
P
a
_////////,_
I
Fl
Figure
II.8
simple
2?
two-bearing-shaft
system
P
a
Figure H.9
A simple
two-bearing-shaft
28
system,
overhung
load
Line of
FGp
P_
Figure II.10 Free-body diagrams of the forces acting upon two gears
in a simple gear train
29
Usually,when
depending
associated
contact
area is dependent
of formulas to calculate
or angular-contact
6r = 46.2x
For a Self-aligning
5r
= 74.0
For a spherical
5r
(II.40)
ball bearing:
x 10 "6
D Z 2 _ cos 5
(II.41)
roller bearing:
= 14.5x10
6_ = 3.71
106 I D Z 2 F2
cossCz
x 10 -6
(II.42)
roller bearing:
(II.43)
F9
of the rolling
follows:
For a deep-groove
For a rolling
as
where
cl,: bearing
deflection, in
in
angle, tad
to shi_ along the direction of the line of action (Figure II. 11) fi'om its original location.
increases
contact
The shift
deflections
neglected.
To evaluate
consideration.
system dynamics,
These parameters,
connected
masses,
suggested
calculated
by:
j _
are incorporated
_lp
32
(Do 4 _ D4)
K = I x G -
=G
32
(D4
analysis.
stiffness K can be
(II.44)
_ D4)
(II.45)
31
As
of
where
r : massdensity,lb/in 3
Do : outside diameter
Di : inside diameter
of shaft, in
of shaft, in
1 : length of shaft, in
I : torsional
constant,
G : shear modules,
in4
lb/in _
32
/./
%
/F
k
%
f11f__%
\
%
Base Circle
Pitch Circle --
Figure
II. 11
Shifting
of center
of gear rotation
33
with deflections
CHAPTERIII
SYSTEM
III.1
Equations
To precisely
The vibration
amplitude,
direction,
the damping
complicated
and composed
relatively
ANALYSIS
of Motion
conditions.
sub-system
DYNAMIC
is a complete
of various
dynamic
sub-systems,
system.
is generally
simplified to a
by a mathematical
a simple
model shown in
This model has four degrees of freedom and consists of gears, input device, output
device, and two flexible shafts. The dynamic behavior of meshing gears could be considered
periodic forced motion.
equations,
some assumptions
by
in
are applied in
are:
damping
as a
is expressed
as a
coefficient.
equations
line of action.
34
t
i
o
MOTOR
T
i
i
i
TL
LOAD
eL
I
i
I_AII II
Figure m. 1 A simple
35
shafts
K a (t)
Ks I
JM
J1
Csi
J2
-n
c(t)
G
JL
c $2
36
JM OM+
J1 6,
+Ks,
vibration
principles,
the governing
equations
as follows:
Csl(OM--Ol
+ Cs,
(0,-
and elementary
) +
Ks,(O M -0_)
(0,--0M)+
= TM
C_(t)[Rbl(Rb,
0M) + Kc(t)[Rb,
(Rb,
fHI.1)
0,-
0,-
Rb2 02)]
Rb2 02)]
Tt_, (t)
flII.2)
JLOL
4-
Cs2
(0L--02)+
Ks2
(0L
--
02
)=
(1113)
fro.4)
--TL
where
JM, JI,
J2,
KSl , Ks2 ,
JL : mass moments
KG(t ) : stiffnesses
respectively
TM, T L
of motion.
The stiffness
37
act
by springs)
is determined
by themethoddeveloped
in ChapterII. Thesystemdynamiccharacteristics
then be found by solving the above simultaneous
II]I,2 Numerical
Solution
Due to nonlinearity
find the solution.
introduced
differential
can
equations.
Approach
it is necessary
parameters.
to apply a numerical
First, a static analysis
Second, a dynamic
analysis
approach
to
is
is incorporated
to
includes
analysis
torque,
into consideration.
analysis.
by using equations
gears, frictional
values.
criterions
I X,
gears is determined
from
error, load
II.
under constant
displacement
in
are needed
in the
convergence.
To determine
are used:
X01
referred
through preloading
the iteration
in Chapter
mesh stiffness
V0 to confirm
following
mentioned
and time-varying
Those equations
of meshing
gears affected
by those procedures
is conducted
intervals.
obtained
The equations
the geometry
is calculated
The dynamic
the following:
--- 0.05 X0
38
technique
incorporating
respectively
whether
the nominal
initial
is satisfied,
the
and
I Vn - V01 -< 0.05V0 ,
Thesamestepsarerepeated
byaveraging
theinitial
displacement
and calculated
values
of angular
Three situations
may occur when gears are in mesh. Each one of these three situations
C) will produce
a specific dynamic
Case(A)
Rbl
condition.
Assume
01 - Rb2 02 > 0
Wd,=KG(t)(Rb,
O,'Rb202)+CG(t)(RD,
O'
Rb2
02
(III.5)
which is the same as the dynamic
Wd2 = Wdl
Case(B)
RD, 0,-
O-11.6)
Rb2 02
Wd
< 0
and
[Rbl01 -Rb2021
<B h
= 0
011.7)
39
(A, B, or
Case(C) Rbl
01 - Rb2 02
<
and
The dynamic
is
011.8)
and
Wa2 = Wd_
0/1.9)
el
damping
displacement
between
is present
in an oscillatory
system.
The mathematical
model is introduced
description
in the vibration
the effective
analysis.
damping
Csl
= 2 _sl
gear 1 and
of gears.
effect is so complicated
damping
dynamic
I(
_+-
J1
(m.lo)
(m.ll)
4O
of
A
factor
The_ represents
thedamping
as a fraction of critical
damping). Based on experimental results [18], the damping in the shafts due to material damping
was found to be between 0.005 and 0.007. In this study, it is taken as 0.005.
For damping between the gear teeth, similar formulas are used:
Col
li Kol)
= 2_
oii12,
R___L+ R____L
Jl
J:
Co2
= 2
I/
Ko2
J1
(lII.13)
J:
is between
0.03 to
0.17. An average value of 0.10 is used in our study. The flow chart for the above numerical
approach
III.2.1 Undamped
The undamped
Natural Frequency
equations of motion for the gear pair in mesh can be obtained by neglecting the
iteration
M.1 through
technique
M.4.
41
The undamped
equations
frequencies
to facilitate
of
of the system.
the solution
in the cycle.
Geometry
of
comlxrcumt_,
oonctif.io_ of sy_m
operation.
de_e_onJ,
relative c_Li_o_
operation.
LI
initial condRions.
Calculati-,u
of dynamic oondition
No
Calculation
of dynamic
Output ofresult
Figure
m.3
How
chart
for computation
42
procedure
"JM
J1
OM
ks1
-ks_
-ks1
R 2
km +(ko),,g
-(ko),vg
bl
RblRb2
O_
01
_-[o]
J2
o2
-(ko)avg
ks2 +(ko).vgR22
RbiRb2
-ks2
-ks2
02
ks2
OL
(III.14)
Transform
of Transmission
Error
of maximum
vibrational
excitations
due to time-varying
proportionately
be neglected.
of Dynamic
error spectrum
the dynamic
are caused by
Stress
to the
of higher harmonics
Therefore,
bending
somewhat proportionately
error is performed
corresponds
of static transmission
to the excitation
is readily adapted
as
43
to the geometry
of root fillet
of involute gear
FFT
TRANSMISSION
ERROR
10
EO.
m_
<
^
o
HARMONIC
Figure
Eli.4
Frequeney
of TOOTH
spectrum
44
10
11
FREQUENCY
of static tm._mi_ion
error
12
Wj
_j
cos
13J
1+
0.26
hL tan 13j)
{ 6Is
1 -
+ ( 0.72 30"5
h--kvtan
hs
(m.15)
13j ) --}
tan j
h_
where
v : approximately
1/4 according
to Heywood
[24]
the position
fillet stress, is 30 degrees for LCRG, and 20 degrees for HCRG, as suggested
of
by
Conell [23].
The main source of gear vibration
tooth load, and changing
operating
conditions,
operating
is the time-varying
total applied
the rotating
the dynamic
due to alternating
performance
of a
nondimensional
To investigate
tooth stiffness
of
dynamic
load to
dynamic
stress
45
/
/
h L
l
_J
lo
r\
Figure
m.5
"Ys
Nomenclature
for modified
46
Heywood
formula
1.6
.,..._;\
,.,,
.,.....
"--'_:
\...j
_.
.....
_ ....
z_=_ios._=F_:_
,..._:,,..=".L
" _.
",.
""
DTmmicLoadFactor
0.8
_C_
0.4
0
0
10
12
14
ROTATING
Figure
III.6
Speed
survey
SPEED
of dynamic
47
load
( 1000
factor
16
rpm )
and dynamic
stress
factor
to maximum
the driving
static stress. The total applied load is the input torque divided
gear.
load
factors occurs near 9300 rpm, which is the system natural frequency.
The analysis
DANST.
bending
described
The program
of system components
and substitutes
follows.
48
program
them into
study which
CHAPTERIV
PARAMETER
STUDY
the analysis
quantity.
speeds at constant
and low-contact-ratio
gears (LCRG).
As illustrated
Damping
resonance
speeds.
- especially
of
will
in Figures IV. 1
if the damping
of HCRG
influenced
by the magnitude
of the maximum
load
ratio gears.
stress factor,
motion at peak
The range of
pitch 8, and the face
IV.I and IV.2 and Figures IV.3 and IV.4, for dynamic load factor and dynamic
respectively.
To explore the
dynamic
a higher dynamic
These phenomena
are
49
stress factors
by a larger dynamic
load
p,.
o
o
o_
o
_x
50
n_
0
0
r_
q.4
o
o
",,_"1
xj
!.4
0
0
0
0
o I.-,4
0
_
o
o
o
o_,,I
JOTaO.E
poo-
o+,_ouX
51
>
.i
o
0
oo
52
53
"
loadnearthetoothroot. Furthermore,
aHCRGhasa long,
a high
and IV.5(b),
demonstrate
coefficients
at resonance
speed.
The points of the curves where the dynamic load drops to zero indicate where the teeth lose
contact
during mesh, and the second peak of dynamic load oeeurs at the teeth re-engagement
position.
Figure IV.6(a)
all damping
cases.
There is no load exerted on the tooth and the value of tooth deflection
this case is smaller than it would be if the teeth did not separate.
calculated
speed for
is zero
period in
speed.
Figure IV.6 shows the dynamic load and stress factors versus gear mesh damping coefficient
both HCRG and LCRG at resonance
factors decreases
smoothly
LCRG at sub-resonance
gears, resonance
phenomenon,
again.
condition.
For HCRG,
increases.
speed.
out of contact
coefficient
this
ratio
meshing stiffness
the damping
operating
coefficient.
speeds.
speed represents
and sub-resonance
for
region.
54
speed. Since
4000
_
3500
3000
_-0.11_
A2500
,---2000
15oo
1000
e:
t_
! :
'/j
500
!
!
15
20
Roll
Figure
IV. 5(a)
25
30
I0
Shared
tooth
mesh
damping
Angle
load
Degree
for sample
35
LCRG
pairs
with
various
gear
coefficient
2500
2000
------_
""
1500
S'oci ]_=!
/---
c-o.oTo
/___
_-o.eo
/----
(-o.uo
(-o.t3o
3 Iooo
5O0
10
15
Roll
Hgute
IV. 5(b)
Shared
mesh
tooth
damping
20
25
30
35
Angle
Degree
55
HCRG
40
pairs
with
various
gear
2,2
"
Z.0
___
_---
1.8
1.6
c_
_._
1.4
O"
_
-_
c_-2.40 (9350rpm)
1.0
1.2
-- CR-2.40 (4650r_a)
0.8
0.6
o.os
o.oo
0.4
0.07
Gear
Figure
IV. 6(a)
Dyna_'c
for
o.lo
o.il
Mesh
load
different
Damping
factors
contact
O.lZ
o.13
!
0.14
Coefficient
versus
redo
gear
mesh
damping
coefficient
gears
CR-1.67
(8800rpm)
CR-2.40
(9350rpm)
CR-2AO (4650rpm)
I
0.08
0.09
0.4
0.07
Gear
Figure
IV. 6(b)
Dynamic
for
different
0.10
Mesh
stress
0.11
Damping
factors
contact
versus
ratio
56
gears
0.12
0.13
0.14
Coefficient
gear
mesh
damping
coefficient
producing
unstable
dynamic
In Fig
all the peak dynamic loads occur at the same position and there is no complete
dynamic
of Flexible
bearings.
Rotor dynamics
unbalance
of a gear body.
of these supporting
location.
the pressure
illustrated
behavior
of
These
it is sufficient
A detailed discussion
in a later section.
from its
should be considered.
of the dynamic
The
57
in this study.
materials
ofthegearsand theshaftsarehomogeneous steel
and thereareno geometricerrorsin
any ofthecomponents,therefore
no eccentricity
isconsidered.The flexural
displacement
of a
rolling
bearingdue tothetransmitted
loadcan be dividedintoaxialand radialdirection
components. Only thedisplacement
intheradialdirection
affects
thegearcontactratio.The
outsidediameter1.5inchesand modulus of elasticity
30,000,000psiwere chosenforboth shaRs.
The computed results
ofthedeflection
due to a normal geartoothloadbetween 500 Ibs
and 2000 Ibsareshown inFigureIV.7,and FigureIV.8(a)and (b)forsimplysupportedbeam and
cantilever
beam, respectively.
Four typesofthebearingswere considered,
type-I:deep-groove
bearing, type-2: self-aligning
bearing.
The effective length 0.25 inch is chosen for the roller dement
all the bearings.
Hertzian
contact deformation
contact.
of a ball bearing
for moderate
deformation.
especially
of the reacting
at the bearing-2
This
are
thrust force and can only resist a light radial load, thus
the
the
The
position as great as
58
long, hence,
load
of type-1
60 I
/
I 5.o_ IH 5.0-
_- 30
b_g
roller
SphcFical
b_dng
_ 2o
/......../..../......./
............
.......................
10
"'"
o
500
750
1000
1250
1500
1750
loads
for a simple
Load
Figure
IV.7
Deflections
system
of shaft
measured
and bearings
under
at gear position
59
2000
( Ib )
various
two-bear-shaft
3O
SHAFT
25
o
2O
I
--4
V
15
1
o
q.P
10
C=I
o
500
750
1000
Load
Figure
IV.8(a)
30
I
1250
( lb
12-5".
2000
(at bearing-I)
under various
system,
overhung
load
10.0"
- Y
--'----'---
'l
Sdf-_ning... baU__ball
beating
25
,
L
1750
Deflections
of shaft and bearings
loads for a simple
two-bear-shaft
-[
1500
......._
.................
_- .........
...__Decl>-groove
...........
..
5
0
500
750
i
I000
-!
1250
1500
1750
2000
Load ( lb )
Figure
IV.8(b)
Deflections
of shaft and bearings
loads for a simple
two-bear-shaft
6O
(at bearing-2)
under various
system,
overhung
load
or duplex ball
position.
Figures IV.9 and IV.10 show the resulting change in contact ratio due to combined
deflection
maximum
deflection
In the cantilever
especially
for overhung
This causes
the overhang
of
gears, also
occurs when both gears are mounted at the center of the shafts.
The contact
This is illustrated
increasing
addendum.
pitch 8
pitch
For
other but steeper than the curves for the larger 8 pitch gears.
This demonstrates
of Contact
Ratio
It may also be
defined as the ratio of the length of contact for one tooth pair to the base pitch. The contact ratio is
a key parameter
of gears.
on the line of action between the initial contact point and
than one pair of teeth are in contact, and the more smoothly the gears will run. It is possible to
increase the contact
manipulating
2.40
-2.38
Y=X
//-
_.:?Z.-..
__.-._
2.36
i_1o.o*-_
t.)
f383
_t_llS
Shaft 1
2.34
[.
:; Y" .,t
X+Y
2.32
5.0
Figure
IV.9
Effect
5.5
6.0
8.5
7.0
7.5
Gear-I
Mounted
Position
of gear
mounting
position
62
( X inch
in a simple
8.0
two-bearing-shaft
system
2.40
Y - 1.0"
/-2.38
.......................
_ ......
_/
o...=
,,=.J.
2.36
.=..4.
o
,..)
2.34
I
I
I'
2.32
1.o
II'
I0.0"
'1
Y"
1.5
2.0
2.5
Gear-I
Figure
IV.10
Effect
system,
of gear
3.0
3.5
4.0
4.5
Mounted
Position
mounting
overhung
position
load
63
5.0
5.5
e.o
e.5
( X inch
in a simple
7.0
two-bearing-shaft
2.40
1.68
DP-$,
A-1.53
DP-8
A-1 00
.......
2.38
_
0
1.64
.36
1.62
2.34
t
o
3.0
4.0
1.60
1.0
2.0
CENTER
Figure
IV.11
Effect
pairs
of increase
(All gears
DISTANCE
in center
have
INCREASE
distance
32 teeth)
64
( IE-3
for sample
2.32
5.0
LCRG
and HCRG
parameters.
Figures
it is beneficial to distribute the load among more pairs of teeth, the load capacity
Furthermore,
a compromise
between various
degree of precision
design requirements.
ratio.
to a higher
contact.
High contact
of diametral
ratio gears can be designed in several ways: (1) by selecting a greater value
angle.
Those parameters
Raising
diametral
pitch increases
at the root.
the tangential
Moreover,
Generally
force component
addendum
or in
the number of
Augmenting
speaking, high-contact-ratio
for surface-distress-related
stress at the
and reduces
failures.
the
of interference,
They also have a greater tooth sliding velocity which may produce
temperatures
gears.
individually
angle increases
teeth.
ratio.
can be changed
and (3) by
A lower pressure
higher surface
Increasing
the tooth
process.
for the gears are shown in Table IV. 1. The contact ratio is varied over
the normalized
65
tooth addendum
!
..
Figure IV.12(a)
Tooth contact
in low-contact-ratio
gear
fs
-J-4:.
,-_
>" ','C'/_.
-2?"----2_Z_-_
"-.\
Figure IV.12Co)
Tooth
contact
66
in high-contact-ratio
gear
In Figure IV. 13, for LCRG, the dynamic load factor generally
contact ratio increases.
This phenomenon
is most prominent
speed.
Contrary
zone.
speed where the gears with the highest contact ratio experienced
phenomenon
contact.
The excitation
contact(
the dynamics
The dynamic
of "transition"
(CR =
CR = 1.868 in Figure IV. 13. For gears with a contact ratio of exactly
of the meshing
67
at
load
the resonant
variation
band
effective
has passed.
as the gear
contact
decreases
response
is very
Table IV.1
Pressure
20.0
Pitch (DP)
of Teeth
Addendum,
Backlash
32
(normalized
by 1/DP in.)
(in.)
(in.)
Diameter
Root Diameter
Face Width
4.0
(in.)
4.175 - 4.385
(in.)
3.775 - 3.565
(in.)
Design Torque
1.0
(Ib-in.)
3760
Tooth
2000
profile
Damping
0.7 _ 1.45
0.001
Pitch Diameter
Outside
Gear Parameters
Angle (degree)
Diametral
Number
Sample
involute
ratio
0.10
68
2.4
2.0
O
_.
1.6
Z
b..
0.8
0.4
4 _a12
ROTATING
Figux W.13
Dynamic
I T
8 w.
10
12
14
SPEED
load factor
69
( 1000
versus
rpm
rotating speed
for LCRG
16
1.4
1.2
0
1.0
(_R-2.412
o
,-., 0.8
z
--o
j_
o.o
o-O
0.6
0.4
0
cnl6
o),,13
(%12
(o,
ROTATING
SPEED
|0
( I000
7O
rpm
12
14.
rotating speed
for HCRG
16
1.4
1.2
o
S
_-1.952
1.0
..
0,8
/"x
"X"
/---- c_-_.o_5
%
......, ..........
s,'"'"k._ ---...................
---
0.6
0,4
ROTATING
Figure
IV.15
Dynamic
load
with CR near
SPEED
factor
versus
2.0
71
10
12
1000
rotating
rpm
speed
I
14
16
pair
double-
5000 rpm).
speeds.
At CR = 2.145 excitation
and triple-tooth
As speed increased
contact produced
some dynamic
variation
variation
diminished,
as
IV. 16 and IV. 17. 9300 rpm is the first critical speed for tooth mesh excitation,
one-half
of this speed.
where contact
approximately
around
ratio value.
from approximately
reaching
In zone 2, a transition
between
zone
at
a minimum
ratio changes
stress
in zone 3, where the contact ratio is greater than 2.0, the dynamic
0.64 and approximately
loads for
tooth bending
stress depends
on the dynamic
A high load acting near the tooth tip causes higher bending
dynamic
the previous
discussion
for dynamic
of the
of co ,. As in
72
on
2.5
2.0
co = 9300
rpm
(_.)
co = 4650
rpm
(co ;2)
co = 3100
rpm
(co ;3)
(e. ; 6)
1.5
.<
0
c.)
,-
1.0-
0.5
0.0
1.00
1.20
1.40
1.60
1.80
2.00
CONTACT
Figure
IV. 16
Dynamic
load
factor
versus
speeds
73
I
2.20
I
2.40
RATIO
contact
ratio
at certain
rotating
2.60
2.5
2.0
///__._
__v(/F
(co.)
Co = 4650
(co./2)
rpm
c0 =3100rpm
(o_./3)
rpm (o)./6)
1.5
to
........
......./y,-- ./....._.
t_ 1.0
_E
.<
z
"*'""%
,o- 155o
ooO,
_.
....
o,..
0.5
0.0
!.00
1.20
1.40
1.60
1.80
2.00
2.20
2.40
CONTACT
Figure
IV. 17
Dynamic
rotating
RATIO
74
2.60
contact
ratio at different
ratio increases
the dynamic
ratio.
In zone 2 (transition
significantly
ratio is greater
to a minimum
HCRG, however,
at submultiples
of the critical
load or dynamic
stress.
low dynamic
dynamic
The dynamic
the contact
the dynamic
the dynamic
stress remains
high.
contour diagrams
load is generally
in Figures
gear systems.
75
IV. 18 and
near CR = 2.0.
IV. 18(b)
low throughout
Moreover,
may have a
approxi-
between
In zone
stress factors are shown in Figures IV. 18 and IV. 19, respectively.
dynamic
Although
representation
2.0. However,
stress oscillates
ratio),
A three dimensional
ratio
Figure
in this report.
for designing
other
An
_
0
76
c9
"
C'q
OLL''I.IDVJ_IOD
'_'
o_,,I
77
"6
_
0
l,d
.%
'-I.
-Ts
=o
%
I
r_
_o
i
I
I
I
_!
%
t_J
c_
_.
OIJN_I J.3YJ_IOD
79
._.
_.
,_.
_o
o_
CHAPTER
CONCLUSIONS
The flexibility
to improve
the simulation
performed
coefficient
gear dynamics.
of gear dynamics.
program
Parametric
DANST.
sample
contact
behavior
were
ranging
of the damping
was investigated.
Contact
on
ratios
for a
in this study.
investigations,
the following
conclusions
were
obtained.
(1) Generally
speaking,
dynamic
gears.
is close to a resonant
gears is
2.0 significantly
on dynamic
response
when operating
speed
speed.
stress in high-contact-ratio
(2) Damping
of the resonant
tooth bending
actual contact
by the operating
8o
gear designers
center distance.
should take the
In
most significant
value depends
on the operating
speed.
Increasing
2.0. Dynamic
contact
effects
ratio
reduce dynamic
load.
(6) At very high speeds ( above the critical speed ), the dynamic
system is much less influenced
response
81
of a gear
are
BIBLIOGRAPHY
[1] Buckingham
E., "Dynamic Load on Gear Teeth", Report of Special Research
the Strength of Gear Teeth, ASME, New York, 1931.
[2] Tuplin,
W.A., "Dynamic
Committee
on
[4] Gregory R.W., Harris S.L. and Munro R.G., "Dynamic Behavior of Spur Gears".
of the Institution of Mechanical Engineers, Vol. 178, No. 8, pp. 261-266, 1963-64.
Proceedings
[5] Cornell, R.W. and Westervelt, J., "Dynamic Tooth Load and Stressing for High Contact
Spur Gears", Journal of Mechanical Design, Vol. 100, No. 1, pp. 69-76, Jan. 1978.
[6] Richardson, H.H.,"Static
and Dynamic Load, Stresses, and Deflection
Systems", Sc. D. thesis, M.I.T. Report, 1958.
Ratio
[7] Hamad, B.M. and Seireg, A., "Simulation of Whirl Interaction in Pinion-Gear
Supported on Oil Film Bearings,". Journal of Engineering for Power, Transactions
Voi. 102, pp. 508-510, 1980.
System
of ASME,
[8] Iida, H., Tamura, A., Kikuchi, K., and Agata, H., "Coupled Torsional-Flexural
Shaft in a Geared System of Rotors", Bulletin of Japanese Society of Mechanical
Vol.23, pp. 211 t-2117, 1980.
Vibration
Engineers,
of a
Journal
[ 12] Ozguven, H. N. and Houser, D. R., "Dynamic Analysis of High Speed Gears by Using
Loaded Static Transmission Error", Journal of Sound and Vibration, Vol. 124, No. 2, July 1988.
[ 13] Lin, H.H.,"Computer-Aided
Design and Analysis
Dissertation, University of Cincinnati, 1985.
[14]
D.P.,"Influence
Ph.D.
of Linear Profile
Modification
and Loading Conditions on the Dynamic Tooth Load and Stress of High-ContactRatio Spur Gears", ASME Journal of Mechanical Design, Vol. 113, pp. 473-480, Dec. 1991.
82
[15]
Gargiulo,
E.P.,"A
Bearing
Stiffness",
Machine
Design,
pp. 107-
Response
ASME Journal
Systems",
Ph.D. Dissertation,
Extended
of Mechanical
of Torsional
Design,
Dynamic
Ph.D.
Load in Spur
April 1981.
[20] Wang, K.L. and Cheng, H.S.,"A Numerical Solution to the Dynamic Load, Film Thickness,
and Surface Temperature in Spur Gears", ASME Journal of Mechanical Design, pp. 177-187,
Jan. 1981.
[21] Mark, W.D.,"Gear Noise Origins", Gears and Power Transmission
and Turboprops, AGARD CP 369, pp. 30_1-30_14,
1985.
Systems
for Helicopters
Heywood,
R.B.,"Designing
[25] Buckingham,
1949.
E.,"Analytical
by Photoelasticity",
Mechanics
Chapman
of Gears",
S.H.,"Spur
of
Dover Publication,
83
ASME Journal
REPORT
DOCUMENTATION
PAGE
Fon_Approved
OMB No. 0704-0188
Public reporting burden fix this collection of infon_ation is estimated to average 1 hour per responsa, including the lime for revt_
instructions, searching existing data sources.
g_"
nngand m_n_ining
the ..data need_.,
and co,np_oting _
rev_wing the .collection of/nfocmation.
Send _c(_ments regarding this burden e.stimate or any other aspect ol this
ov mformahon, including suggest=ons for reducing this burden, to Washington Headquarters Services. Dmructorate for Information Operations and Reports. 1215 Jefferson
Davis Highway, Suite 1204, Arlington, VA 22202-4302,
and to the Office of Management and Budget, Paperwork Reduction Project (0704-.0188), washington,
DC 20503.
1.
AGENCY
USE
ONLY
(Leave
blank)
2.
REPORT
DATE
3.
January
4.
TITLE
AND
REPORT
TYPE
AND
DATES
Final
1998
SUBTITLE
A Parametric
5.
Study
COVERED
Contractor
FUNDING
Report
NUMBERS
6.
NAG3-1686
AUTHOR(S)
1L162211A47A
Hsiang
Liou
7. PERFORMINGORGANIZATIONNAME(S)ANDADDRESSEES)
8.
PERFORMING
REPORT
University of Memphis
Memphis, Tennessee 38152-0001
9.
SPONSORING/MONITORING
U.S.
Army
AGENCY
Research
Ohio
Cleveland,
E-11073
NAME(S)
AND
10.
ADDRESS(ES)
SPONSORING/MONITORING
AGENCY
Laboratory
NASA
Lewis
Cleveland,
11.
CR--1998-206598
ARL--CR-419
Center
NOTES
Manager,
Fred
Oswald,
Structures
and Acoustics
Division,
NASA
Lewis
Research
Center,
organization
code
5900,
433-3957.
DISTRIBUTION/AVAILABILITY
Unclassified
Subject
STATEMENT
12b.
DISTRIBUTION
CODE
- Unlimited
Category:
37
Distribution:
NUMBER
44135-3191
SUPPLEMENTARY
(216)
12a.
Research
Ohio
Project
REPORT
44135-3191
and
NASA
ORGANIZATION
NUMBER
ABSTRACT
(Maximum
A parametric
200
study
Nonstandard
Information,
(301) 621-0390.
words)
of a spur
gear system
was
performed
through
a numerical
analysis
approach.
This
study
used
the gear
dynamic program DANST, a computer simulator, to determine the dynamic behavior of a spur gear system. The analytical results have taken the deflection
of shafts and bearings
into consideration
for static analysis,
and the influence
of
these
deflections
on gear
dynamics
was
investigated.
Damping
in the gear
system
usually
is an unknown
quantity,
but it
has an important effect in resonance vibration. Typical values as reported in the literature were used in the present
analysis.
ratio
varied
have
14.
The
dynamic
on spur
over
gear
the range
the most
SUBJECT
response
dynamic
favorable
due to different
load
of 1.26
and dynamic
to 2.46
dynamic
damping
stress
by adjusting
was
factors
was
investigated
the tooth
evaluated
through
addendum.
Gears
and compared.
The
effect
a parameter
study.
The
with
ratio
near
contact
of the
contact
contact
ratio
2.0 were
was
found
to
performance.
TERMS
15.
NUMBER
OF
PAGES
90
Gears;
17.
SECURITY
OF
Spur
gears;
CLASSIFICATION
REPORT
Unclassified
NSN 7540-01-280-5500
Dynamic
load;
18.
Stress
SECURITY
OF
THIS
CLASSIFICATION
PAGE
Unclassified
19.
SECURITY
OF
CLASSIRCATION
16.
PRICE
CODE
20.
UMITATION
OF
ABSTRACT
ABSTRACT
Unclassified
Standard
Form
Prescribed
298-102
by ANSI
298
(Rev.
StcL Z39-18
2-89)