American Journal of Mechanical Engineering, 2013, Vol. 1, No.

7, 208-211
Available online at http://pubs.sciepub.com/ajme/1/7/11
Science and Education Publishing
DOI:10.12691/ajme-1-7-11

Motion Analysis of Timing Belt Used in Control Systems

Domek Grzegorz*
Department of Mathematics, Physics and Technology, Kazimierz Wieki University, Bydgoszcz, Poland

Received October 30, 2013; Revised November 13, 2013; Accepted November 26, 2013

Abstract The paper presents the results of measurements and analyzes gear timing belts, used in control systems.
Many of the design features of timing belt determines its usefulness in such systems. Knowledge of technical
parameters allows for the proper use of such belts in the construction.
Keywords: timing belts in control system, gear with timing belts
Cite This Article: Domek Grzegorz, Motion Analysis of Timing Belt Used in Control Systems. American
Journal of Mechanical Engineering 1, no. 7 (2013): 208-211. doi: 10.12691/ajme-1-7-11.

1. Introduction
Mechanical control system depends largely on the
mechanisms used and drives. Electronic systems have the
time and speed of response, and data transmission [1]. By
using the latest design features are well known and can
use this knowledge in the design process. The situation is
different in the case of mechanisms, it seems that their
characteristics have been established a long time ago.
Despite intensive development of mechanical transmissions,
there is no current descriptions and research. This applies
particularly to the transmission of timing belts, which are
more and more applications in the control systems and
control [2,3].

reduced engine noise emissions. The use of timing belts in

electric servo steering system has also contributed to a
reduction in fuel consumption of vehicles. Currently, the
number of gear timing belts, in motor vehicles
approaching twenty [10].

2. Timing Belt in Control Systems

One of the oldest applications is the timing in internal
combustion engines [9]. Due to the limited knowledge of
toothed belts, some manufacturers have returned to use in
this application chains, while others intensely developed
these gears using such non-circular wheels (Figure 1).

Figure 1. Non-circular pulley from valve timing of the combustion

engine

Increase the speed of opening and closing valves, gave

the savings in fuel consumption, exhaust emissions and

Figure 2. Storage vials in pharmaceutical factory

A more rapid development can be observed in industrial

applications. The accuracy of movement in the drive axis
CNC machines robots and manipulators resulted in the
need to increase the quality and accuracy of production of
toothed belts. The entire group of such systems can only
drive belts made to the highest standard of precision.
Presented "magazine vials in motion" show that the
inaccuracy of the carrier must be compensated straps
(Figure 2). Another example is the bottling system whose
construction involves filling 40 thousand. bottles per hour.
In such applications the standard belt does not achieve the
desired accuracy of the motion and speed of 20 thousand.
bottles per hour (Figure 3).
Very important is the choice of strips made of the right
materials. In the presented application creep caused by
significant inaccuracies of motion and rapid damage the
belt (Figure 4). Therefore, in this case, the selected edge
solution. (color belt means a belt newest generation) [11].

American Journal of Mechanical Engineering

Figure 3. Control system of bottle filling system

209

through the central point of engagement C (Figure 5).

Trajectories targeted tooth movement in relation to the
wheel usually rays, because the curve of the helical known
not suitable for the description. The main advantage of
such an engagement is lack sliding friction, gear teeth
sweep up after yourself. This is the kind of cooperation it
seeks in gear with the timing belts, as limited by this wear
volume of teeth due to friction in the process of
conjugation [12,13].
The problem is also belt drives internal friction. Can be
reduced by reducing the waist under the neutral axis,
while increasing the susceptibility of bent. Reduce the
amount of material for the carrier layer, it can also be
accomplished by the use of toothed belts have the same
pitches while a different type of cords [14].

3. Description
Movement

of

the

Belt

Tooth

The gear units with timing belts, can be distinguished

equivalent focal point meshing, but the point C is
moving with the movement of the wheels. Calculating the
Lagrange difference kinetic and potential energy (Figure
6).

L= K P=
Figure 4. Timing belts i robotics

J
1
{mq12 + B (rM + q2 ) 2
2
rB2

+ ( J M + m 2 ) 2 + 2m q1 cos(t )}

(1)

1
{CM q12 + CC (q2 q1 cos a )2
2
+ CB (q2 q1 cos a )2 }

Figure 6. Schematic representation of the power transmission with

timing belt [8]

L 1
= {2mq1 + 2m cos(t )} = mq1 + m cos(t )
q1 2
JB
L 1 J
= { B 2(rM +=
q2 )}
(rM + q2 )
2
q2 2 rB
rB2

Figure 5. Willis principle

Analysis of the kinematics of the toothed belt started

from the comparison with the chains. This sufficed in the
first constructions belts of trapezoidal teeth. They differed
only on the properties of the cord chain which was not
elastic. In subsequent constructions belts rounded teeth
and began to look for analogies to helical gears.
Perpendicular at the point where mating teeth B runs

mq1+ m2 sin(t )

=
JB
q2

rB2

m 0 q
2

= J q1 m 0sin(t )
2
B

0 2
rB
L
d q1

dt L
q 2

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American Journal of Mechanical Engineering

L
1
=
{2CM q1 + 2CC ( q2 + q1 cos a ) cos a + 2CB ( q2 q1 cos a )( cos a )}
q
2
1
2
2
=
C M q1 CC q2 CC q1 cos a + C B q2 cos a C B q1 cos a
=CM (CC +CB ) cos 2 a q1 {(CC C B ) cos a}q2

L
1
=
{2Cc ( q2 + q1 cos a )+ 2CB ( q2 q1 cos a )}
q2 2
=
CC q2 CC q1 cos a C B q2 + C B q1 cos a
=
(CC C B ) q1 cos a (CC + C B ) q2

after the above analysis we get:

L
q1
L
q
2

{CM (CC +CB ) cos2 a}(CC CB ) cos a q1

=
q2
(CC CB ) q1 cos a (CC +CB )

Lagrange equation takes the form:

m 0
J
0 B2
rB

q
m2 sin(t )
q1

In the present equation, m is the mass of a tooth-belt, l0

- distance from the center of the tooth belt from the central
point of engagement "C", l- value scale belt or wheel
(depending on whether the movement takes the wheel or
belt).
It is very important for the proper conduct of the
process is to maintain the proper pitch diameter which in
these transmissions is measured at the height of the neutral
axis of the carrier layer [6]. Changing the position of the
belt or cord diameter changes to unfavorable feedback.
This also applies to the diameter of the surfaces on which
they are co-belt wheels and in part, the diameter of the
gear tooth tips of the feet in diameter part [7].
In order to improve the liquidity of engagement should
first analyze the coverage ratio of teeth in the process of
conjugation. While maintaining a small belt pitch while
increasing the number of teeth of the pulley is obtained a
situation in which several tooth is involved in the coupling
to the wheel.

X =
(2)

{C (C +C ) cos2 a}(C C ) cos a q1

= M (C CC B) q cos a (C C+C B)
q2
C B 1
C B

Transmission dynamics occurring variability depends

on the size and mass of the individual teeth. Possible
collision belt teeth and wheels introduce additional
vibration, and that it should be used to limit the right
materials for the backing layer to strip underwent the
smallest elongation. Should analyze the geometric form of
rebate in a circle and the tooth at the waist [4,5]. The
beginning and the end of cooperation should take place
without mutual slip. Assuming that managed to reduce the
tendon elongation, in the case of one scale can be omitted
to describe the process of engaging the belt wheel, you
can use the Lagrange description of the pendulum with
variable coupling point (Figure 7).

2 D p hi 4h 2 hi2
2P

X-coverage factor Dp-foot diameter pulley teeth, tooth

height, hl-axis of the cord, h-height of the belt tooth.

Figure 8. Changing the torque caused by the coupling

Was carried out a series of studies on uniformity of

transmission operation. Variability called coverage ratio is
a primary cause of this phenomenon. Requested again to
solutions similar to cylindrical gears and timing belts used
helical, herringbone and the arc. There are not conducted a
more detailed analysis of problems associated with the
construction of a timing belt and these structures solved
the problem of smoothness and noise. Unfortunately, these
bands are much worse perform tasks power transmission
and control. The total deformation of teeth on the arc of
contact depends also on geometric properties of the belt,
such as the pitch utilization factor. The more
comprehensive coupling model can be expressed in form
of the following formula:

S1
= f ( k , p , K W , Akp , Y , Z )
S2
Figure 7. Movement of the teeth in the coupling

Comparing the process of engagement of the belt tooth

with the wheel pendulum movement with variable length
vibration equation can be written to this step of the form:

d
[m(l0 + l )2 ] + mg (l0 + l ) = 0
dt

(3)

or:

m(l0 + l )2 + 2m(l0 + l )l + mg (l0 + l ) = 0 (4)

(5)

(6)

where: KW belt pitch utilization factor, k cord

deformation (extension and twist), p belt material
deformation causing belt tooth height change ph and the
width change pb as well as shape change pA, Akp
adhesion factor for cord, belt material and additional
materials, Y the toothed belt pitch to toothed pulley pitch
ratio, Z belt and pulley wear of volumetric Zv and
energetic Ze type.

p = { ph ; pb ; pA }

(7)

American Journal of Mechanical Engineering

=
Z Zv + Ze

(8)

Use of toothed belts of the same pitch value and

different cord types allows to satisfy the need for internal
friction reduction (by reducing the tooth height and the
height below the neutral axis) with simultaneous increase
of flexibility and making use of flat belt advantages.
When the coupling is expressed in form of the
relationship of temporary stress values, it takes the form:

dS1
= f ( pk , X c , X B , K w , K z , FN , N , du , dzco , dzbo ) (9)
dS2
The temporary number of teeth on the arcs of contact of
the driving pulley dzco and the driving pulley dzbo
respectively, significantly influences the change of
coupling, particularly for transmission gears, where the
value of X, determined from the formula (5) does not
exceed the unity. Belt material properties specified by the
formula (6), indicating to the influence of deformations on
the change of material properties are also important. The
pre-tensioning force FN, influences the coupling character
by influence on matching the belt and the pulley pitches as
well as on the angle 0, the value of which depends on
the mechanical properties of the load-carrying layer [4].

is associated with load transfer from the belt material to

the cord as well as effects occurring between respective
belt and pulley surfaces. In some experiments
synchronous gear worked parallel with standard belt gear
in order to improve power transmission trough friction.
Analysis of those effects constitutes the grounds for
individual attitudes to design and operation of toothed belt
transmission gears.

References
[1]
[2]
[3]
[4]
[5]
[6]
[7]

4. Conclusion
Gears of timing belts, excellent excel in the control and
regulation systems still standing before them a wide field
of applications. Understanding the structural design allows
the distinction of belts and wheels: driving from controls.
Like other mechanical transmissions used in the control
also in this case is selected with a gear limited backlash or
"backlash free". Given the problems described should be
aware of reduced efficiency and inaccuracies. Value of
initial stress force is essential in process of inequality of
work of the shaft. On the basis introduction of small
changes of the force it can be stated that its conditioning
to geometric parameters of the belt as well as to the value
of circumferential force will allow to develop operating
parameters of shafts with timing belt. Phenomena
associated with the contact between the toothed belt and
the pulley can be divided into categories. The first
category includes phenomena occurring inside the belt and

211

[8]
[9]
[10]
[11]

[12]
[13]
[14]

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