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A fast and reliable numerical method for analyzing loaded

rolling element bearing displacements and stiffness
Article in Journal of Vibroengineering · March 2015
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1541. A fast and reliable numerical method for
analyzing loaded rolling element bearing displacements
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and stiffness
Yu Zhang1, Guohua Sun2, Teik C. Lim3, Liyang Xie4
1, 4Schoolof Mechanical Engineering and Automation, Northeastern University, Shenyang, China
CO
2, 3Department of Mechanical and Materials Engineering, University of Cincinnati,
Cincinnati, P.O. Box 210072, USA
1Corresponding Author
E-mail: [email protected], [email protected], [email protected], [email protected]

(Received 11 September 2014; received in revised form 8 November 2014; accepted 20 November 2014)
Abstract. The load-displacement relation for rolling element bearing is a system of nonlinear
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algebraic equations describing the relationship of bearing forces and displacements needed to
compute the bearing stiffness. The computed bearing stiffness is typically employed to represent
the bearing effect when modeling the whole geared rotor system to optimize the system parameters
to minimize the unwanted vibrations. In this study, a robust numerical scheme called the energy
method is developed and applied to solve for the bearing displacements from the potential energy
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of the bearing system instead of solving these nonlinear algebraic equations using the classical
numerical integration. The proposed energy method is based on seeking the minimal potential
energy derived from the theory of elasticity that describes the potential energy as a function of the
displacements of inner ring of rolling bearing relative to the housing support structure. Therefore,
solving the system of nonlinear algebraic equations is converted into solving a global optimization
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problem in which the potential energy term is the objective function. The global optimization
algorithm produces the bearing displacements that make the potential energy function of bearing
system minimum. Parameter studies for bearing stiffness as the explicit expressions of bearing
displacements are conducted with the varying unloaded contact angles and the varying orbital
positions of rolling elements. The analysis applying the energy method is shown to yield the
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correct solution efficiently and reliably.

Keywords: rolling element bearing, nonlinear algebraic equations, bearing stiffness, energy
method, potential energy of the bearing system, global optimization.
1. Introduction
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The gear pair assembly has been considered as one of the major noise and vibration sources in
the rotating machineries typically seen in automotive, aerospace and industrial applications [1-4].
The primary excitation force of gear pair vibration is the dynamic mesh force of engaged gear
teeth caused by the transmission error (due to tooth profile, spacing error, and elastic deformation
of the gear pair). The resultant vibration can be subsequently transmitted through the shaft-bearing
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system and excite the vibration of housing that radiates annoying noises. In order to design a
reliable and quiet power transmission system, and/or trouble-shoot the noise and vibration issues,
it is highly desirable to perform an understanding of the behavior of bearings and their interactions
with the internal and housing components. In modeling the geared rotor systems, the bearing effect
can be easily incorporated into the system model by introducing the relevant bearing stiffness set
[5-7]. However, most of the rolling element bearings are precision elements with very complex
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components that inherently have nonlinear static/dynamic characteristics. Moreover, when a

poorly designed bearing is considered, the load-displacement relation might become extremely
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complex and would cause vibrations. Hence, a fast and reliable bearing stiffness estimation
method is necessary to facilitate the static or dynamic analysis of the rotating mechanical systems.
There have been numerous research efforts driven to determine the stiffness matrix of the
rolling element bearings. Some of the earlier studies of rolling element bearings were performed
by Jones [8], Harris [9], and Palmgern [10]. They investigated the radial and axial load-deflection
620 © JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. MAR 2015, VOLUME 17, ISSUE 2. ISSN 1392-8716
1541. A FAST AND RELIABLE NUMERICAL METHOD FOR ANALYZING LOADED ROLLING ELEMENT BEARING DISPLACEMENTS AND STIFFNESS.
YU ZHANG, GUOHUA SUN, TEIK C. LIM, LIYANG XIE
relation using a nonlinear stiffness coefficient. Later, Gargiulo [11] provides an empirical
formulae for radial and axial load-stiffness and deflection-stiffness relations by assuming rigid
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bearing races. The simplified bearing stiffness matrix obtained through these early studies is either
based ideal boundary conditions assumption or neglecting certain degree of freedom (DOF). It
was reported by Lim and Singh [12-14] that these early bearing stiffness formulations could not
well represent the real bearing characteristics, especially for the coupled translational and
rotational vibration. They proposed a more general bearing stiffness matrix with complete 5 DOF
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terms for ball and roller bearing elements. In their model, a discrete summation approach was
adopted to obtain the total bearing forces and moments of all the loaded rolling elements. Hence,
a set of nonlinear algebraic equations were formulated for the bearing stiffness, which was
numerically solved by using Newton-Raphson method. Then, Hernot et al. [15] derived the
stiffness matrix of a five-DOF (degree-of-freedom) angular contact ball bearing by using an
analytical approach in which the load summation over ball elements is replaced by an integration.
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Similarly, the classic Newton-Raphson approach was applied to solve the whole matrix equations.
Instead of using the analytical approaches, very recently, Guo and Parker [16] developed a finite
element/contact mechanics model to obtain the bearing stiffness matrix for a wide range of bearing
types and parameters. The accuracy of the results depends on contact control parameters and step
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size selected for the finite difference formulation. However, this method is very time-consuming.
There are also several experimental techniques [17, 18] hat have been recently developed to
determine the bearing stiffness matrix. One major concern of these FEM methods and
experimental approaches is the efficiency especially from system design point of view. On the
other hand, the general approach proposed by Lim and Singh [12] has demonstrated its efficiency
and accuracy. Their theory has been widely adopted in general geared rotor dynamic analysis,
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such as spur and hypoid geared rotor systems [7, 19-22]. Very recently, Liew and Lim [23]
extended the prior study to establish the time-varying stiffness formulation considering the orbital
motion of the rolling elements. The time-varying bearing stiffness model has been implemented
into both linear parallel and nonlinear non-parallel geared rotor system dynamics analysis [21].
In spite of these successes of obtaining stiffness matrix for bearing elements, one of the major
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concerns is the computational efficiency and robustness of these numerical models. The
coefficients of stiffness matrix can be derived from the partial derivatives of the load expressions
with respect to the displacements including translational and rotational coordinates of the inner
ring of rolling element bearing relative to the housing support. In this formulation, the coefficients
of stiffness matrix can be directly computed given a set of bearing displacement vectors. Yet, in
practice, only the external forces applied to bearing system are known. In such cases, the bearing
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displacement vectors due to known bearing forces can be obtained by solving the system of
nonlinear algebraic equations describing the load-displacement relation of the bearing system. For
the solution to be reliable, an appropriate numerical method must be chosen to solve these
nonlinear equations iteratively. However, the commonly used numerical methods, such as the
Newton-Raphson and Powell’s hybrid methods [24], require careful application and can be
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cumbersome. Also, the accuracy of these algorithms typically relies on the trial and error of
different initial estimates since the number of the numerical solutions is not known in advance.
The classic Newton-Raphson method is a local minimal approach and the iterative solution tends
to trap into the local point. Obviously, if the initial solution was chosen far away from the exact
solution point, the whole numerical scheme will be very time-consuming.
In this paper, a reliable, fast and efficient energy method is developed to better quantify the
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relations of bearing displacements and applied forces. The proposed energy method is based on
the principle of minimum potential energy derived from classical mechanics, which is a global
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searching method. The exact displacements can be found by searching for the displacements that
yield the minimum total potential energy of the bearing system. This algorithm overcomes the
deficiencies seen in classical iterative method requiring the trial-and-error of different initial
estimates. Also, the trap of local minimum solution can be avoided especially for the existence of
multiple numerical solutions typically seen in system of nonlinear algebraic equations. In addition,
© JVE INTERNATIONAL LTD. JOURNAL OF VIBROENGINEERING. MAR 2015, VOLUME 17, ISSUE 2. ISSN 1392-8716 621
the proposed method can be used to guide the design of the bearings, especially for minimizing
the vibrations of a poorly designed bearing. The minimized potential energy condition would give
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the desired system parameters to minimize the vibrations.
2. Bearing load-displacement relations
The schematic diagram for the relations between bearing forces and displacements for ball and
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roller bearings are shown in Fig. 1 and Fig. 2, respectively, detailed load-displacement relations
were proposed by Lim and Singh [12, 14]. To recap, these relations are given briefly in this paper.
In the proposed formulation, the load-displacement relations can be derived by considering the
relations of (i) the displacements of inner ring and the deformation of outer raceway-ball/roller
element-inner raceway, (ii) the load and the deformation for outer raceway-ball/roller
element-inner raceway, and (iii) the normal loads on all ball/roller elements and bearing forces
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and moments.
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a) b)
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c)
Fig. 1. Ball element bearing kinematics and co-ordinate system [12, 14]
As seen from Fig. 1(a), for the ball bearing subjected to forces ( , , ) and moments
( , ), the resultant translational and rotational displacements generated in the bearing inner
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are ( , , ) and ( , ), respectively. Also, the ball and raceways will be displaced.
Detailed schematic diagram of the deflection for the th ball element and raceway located at angle
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from the -axis is shown in Fig. 1(b). Here, is the position of the outer groove curvature
centers, and are the initial and final locations of the inner raceway groove curvature center
before and after the deflection of the th ball element and raceways, respectively. The normal force
on ball element and the deflection of ball and raceways is given in detail in Fig. 1(c), where
the bearing structures including ball element, inner raceway and outer raceway are ignored for
purpose of simplification.
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Based on Fig. 1(b)-(c), the total deformation of the th ball element and raceway can be
described in the following expressions:
− , > 0,
= (1a)
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0, ≤ 0,
2
= ∗ ( − 1) + , (1b)
= sin +( ) + cos +( ) , (1c)
where is the th rolling element azimuth, is the angle between the first rolling element and
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-axis, is the total number of ball elements for the ball bearing or roller elements for roller
bearing, and are the unloaded and loaded relative distance between the inner and outer
raceway groove curvature centers, and is the unloaded contact angle for ball bearing or roller
bearing. The th ball element and raceways deflection in the axial ( ) and the radial ( )
( )
( )
=
=
+
cos
sin
+ sin
− cos
− ,
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directions are given as follow according to the displacements of inner ring:
, (2a)
(2b)
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where is the radial distance of the inner raceway groove curvature center for the ball bearing,
and is the bearing radial clearance. Note , and are the translational displacements of
the inner ring along , , axis, respectively; , are angular displacements of the inner ring
along , axial directions.
The load-deformation relation for outer raceway-ball element-inner raceway can be defined
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by the Hertzian contact theory [25]:
= , (3)
where is the resultant normal load on the ball element, and is the effective stiffness constant
for the inner race-ball element-outer race contacts and is a function of the bearing geometry and
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material properties. The exponent is equal to 3/2 for ball type with elliptical contacts. The effects
of centrifugal forces and gyroscopic moments of rolling element on ball bearing and roller bearing
are ignored as these effects are considered only at extremely high rotational speeds.
The normal force on the th ball element can be divided into two components cos and
sin along the negative direction of axis and axis, respectively, as shown in Fig. 1(c). Due
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to the th rolling element azimuth , the component cos can be divided into cos cos
(along the negative direction of axis) and cos sin (along the negative direction of axis).
The orthogonal load components of normal forces on all ball elements, including cos cos
( axis), cos sin ( axis) and sin ( axis) and bearing forces and moments lead to the
following forces and moments equilibrium relations:
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cos cos
AU
cos sin
= sin , (4)
sin sin
− sin cos
where is the loaded contact angle, and the two relations, sin = sin + ( ) / ,
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cos = cos + ( ) / can be obtained based on Fig. 1(c).
The load-displacement relation of ball bearing can be obtained by substituting the Eqs. (1)-(3)
into the Eq. (4). This relation is very complicated if the normal force is expressed explicitly
with the displacements of inner ring. Here, the following simplified expression by Lim and Singh
[12] is still used by substituting Eq. (1a), Eq. (1c) and Eq. (3) into Eq. (4):
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cos +( ) cos
sin +( ) + cos +( ) − cos +( ) sin
sin +( )
sin +( ) + cos +( ) sin +( ) sin
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− sin +( ) cos (5)
0
0
− = 0 .
0
0
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Similarly, the load-displacement relations can be obtained for the roller bearing by following
the derivation steps mentioned above. Figs. 2(a)-(c) show the undeformed (unloaded) and
deformed (loaded) roller element. The point locating at the center of the effective roller length
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is the origins of and axis, where is the local rolling element axis coordinate and is the
dimensionless local coordinate, = / , is the effective length of the roller. Note varies
from – /2 to /2, and from –0.5 to 0.5. The total roller and raceways elastic deformation at the
origin for the th roller is:
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= cos cos + cos sin + sin − + sin sin

(6a)
− sin cos − cos ,
where , and are the pitch bearing radius, bearing radial clearance and crown drop,
respectively. Note the term cos cos + cos sin + sin is the deformation
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generated by the translational displacement of the inner ring, and

sin sin − sin cos is the deformation due to the inner ring angular
misalignment ( , ). Both and cause the rotation of the th roller, and hence also
contributing to the extra roller raceway deformation ∆ varying along the roller length as:
∆ , = − sin + cos = − sin + cos = , (6b)

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where:
=− sin + cos , (6c)

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where stands for the rotation angle of the th roller due to inner ring angular misalignments
( , ). The elastic deformation of the th roller effective length could be characterized by a
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dimensionless parameter and its azimuth angle :
+∆ , = + , > 0,
= − 0.5 ≤ ≤ 0.5. (6d)
0, ≤ 0,
 Rj Qj
0
PY
o o
o z' z' z'

 
CO
r
Fbz  bz Fbz  bz Fbz  bz
z z z
a) b) c)
Fig. 2. Roller element bearing kinematics and co-ordinate system
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The normal pressure along the roller length is usually different due to different deflections at
each contact location, as shown in Fig. 2(c). The sum of normal pressure at dimensionless
coordinate on the elemental length can be calculated based on Hertzian contact theory [25]:
(7a)
= = +
ON ,
and the resultant normal force applied on the roller can be obtained by integration on as:
= = + , (7b)
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where is equal to 10/9 corresponding to line contact.
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a) b)
Fig. 3. The rotation of roller element with respect to outer raceway
The subset ( , ) can be bounded based on Fig. 3. For > 0 , it implies the
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deformation mode will be like Fig. 3(a) based on the Eq. (6c). In this case, the upper limit of
integral is 0.5. The lower limit of integral should satisfy = + ≥0
(The deflection at the dimensionless coordinate is equal to or larger than zero), therefore,
it could be obtained by choosing the larger one of both − / and –0.5. For
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< 0, it refers to the Fig. 3(b). The lower limit of integral should be –0.5. The upper
limit of integral should satisfy = + ≥ 0, therefore, could be obtained
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by choosing the smaller one of both − / and 0.5. For = 0, the roller does
not rotate with respect to outer raceway and the lower and upper integral limits are –0.5 and 0.5,
respectively. The normal force on the roller does not exist for = 0 when the total elastic
deformation of the roller raceways at the origin for the th roller is less than zero. Based on the
above discussion, the subset ( , ) can be given as:
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− , −0.5 , > 0,
= (8a)
−0.5, ≤ 0,
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0.5, ≥ 0,
= (8b)
− , 0.5 , < 0.
In order to obtain the equilibrium relations between normal pressures of all the rollers and
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bearing forces and moments, the normal pressure along the roller length needs to be transformed
into point force as shown in Fig. 2(c). The value of the point force is the resultant normal force
and its location (the load eccentricity) is determined by following equation:
=
,
,
+
+
,
,
,
ON (9)
where the load eccentricity is the distance between the point load vector line of action and roller
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mid-point.The point load can be divided into three orthogonal load components along , , axis
as done for ball element and the equilibrium relations between load components from all the rollers
and bearing forces and moments are obtained by applying vector sum to the bearing inner ring:
cos cos
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cos sin
= sin . (10)
sin − sin
− sin − cos
The load-displacement relations for roller bearing can be easily attained by substituting the
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Eqs. (6)-(9) into Eq. (10). Similarly, the following reduced load-displacement expression can be
obtained by substituting Eq. (7b) into Eq. (10):
cos cos
0
cos sin 0
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+ × sin − = 0 . (11)
sin − sin 0
− sin − cos 0
Here, the bearing displacements for the ball and roller bearings can be solved from Eqs. (5)
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and (11) using classical iterative method. For example, the Newton-Raphson and Powell’s hybrid
methods [24] have been applied to solve these nonlinear equations, which typically require a
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careful application and can be cumbersome due to the local minimal searching feature. In the
following section, a reliable, fast and efficient energy method is applied to solve bearing
displacements, which facilitates the quantification of the relations of bearing displacements and
applied forces. The proposed energy method is a global searching method, which is based on the
principle of minimum potential energy derived from classical mechanics.
3. Energy method
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The energy method, based on the potential energy of the bearing system, is developed to solve
the bearing displacements. The proposed energy method links the energy of the system to the
displacements of the bearing, which can efficiently yield the correct displacement solution vectors.
Further discussion of this proposed strategy is provided below.
Based on the theory of elasticity, the total potential energy of the rolling element bearing
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system is directly related to the displacements of the bearing system. The principle of minimum
potential energy states that the potential energy corresponding to the correct solution satisfying all
the differential equations and boundary condition is less than the potential energy corresponding
to any other admissible displacement that satisfies geometrical equation and displacement
boundary condition [26]. According to this principle, if the potential energy of the bearing system
can be derived as a function of the displacements of inner ring relative to the housing support
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structure, the problem becomes finding the set of displacements that, satisfying the displacement
boundary conditions and differential equations, make the potential energy minimum.
The potential energy of total bearing system consists of the elastic strain energy and the
potential energy of bearing forces. Generally, the deformation is considered only at the “outer
raceway-roller element-inner raceway” contacts when loads are applied to bearing. Therefore, the
equation:
1
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elastic strain energy is caused by the contact deflection and can be calculated by the following
= , (12)
2
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where is the strain energy. Also, = are the six stress
components, and = are the six strain components corresponding to stress
components. Note that and ( = , , ) are the normal stress and strain components, and
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and ( = , , ) are the shear stress and strain components, respectively. Finally, is
entire compressed volume, and 1⁄2 is the strain energy for each unit volume. It is almost
impossible to determinate the elastic strain energy in applying Eq. (12) since it is very difficult to
determine the stress and strain components accurately in the whole compressed volume. However,
strain energy in the bearing can be calculated by the work due to forces causing contact deflection
at the “outer raceway-roller element-inner raceway” contacts.
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For the ball bearing, given the deformation for the “outer raceway-ball element-inner raceway”
contacts as for the th ball element, the corresponding normal load should be calculated in term
of the Eq. (3) as:
= , (13)
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where the elemental work due to on the elemental displacement along the direction of can
be describedas follow:
= , (14)
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and the total work of can be obtained by integrating the above expression:
AU
= = = , (15)
+1
where is the total deflection of the th ball element and can be calculated by Eq. (1), (2) as a
function of the displacements of inner ring of the bearing relative to the housing support.
Therefore, the total strain energy for whole ball bearing can be obtained by adding for all ball
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elements:
= = . (16)
+1
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The potential energy of bearing forces is subsequently calculated from:
=− + + + + . (17)
Therefore, the total potential energy is the sum of elastic strain energy and potential energy of
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bearing forces given by:
∏ = + . (18)
Substituting Eqs. (16)-(17) into Eq. (18) yields the total potential energy described as a
roller element is , then the contact load

follow:
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function of the displacements of inner ring of the bearing relative to the housing support structure.
For the roller bearing, provided the deformation at the dimensionless coordinate , for the th
on the elemental length could be calculated as
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= , (19)
then, the elemental work due to on the elemental displacement along the direction of is
calculated as:
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= , (20)
and the total work for th roller element can be attained by integrating with respect to and as
given below:
1
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= = = = , (21)
+1
where is the total deformation of the th roller element at dimensionless coordinate . Also,
can be calculated by the Eq. (6) and the limits of integration ( , ) can be obtained from
Eq. (8). Substituting Eq. (6d) into above Eq. (21) yields:
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1
= + , (22)
+1
( − ), = 0,
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+1
= (23)
+ +
AU
− , ≠ 0,
( + 1) +2 +2
therefore, the total strain energy for the whole roller bearing could be attained by adding for
all the roller elements:
= . (24)
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The potential energy of bearing forces for roller bearing can be obtained by the same formula
in Eq. (17) used for ball bearing:
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=− + + + + . (25)
The sum of the elastic strain energy and potential energy of the bearing forces contribute to
the total potential energy as a function of bearing displacements can be written briefly as:
Π = + . (26)
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Given the above analysis, the energy method can be established employing the expression of
potential energy in Eq. (18) and Eq. (26) as the objective functions for ball and roller bearing
systems, respectively. Furthermore, the left expression of the given system of nonlinear algebraic
Eq. (5) and Eq. (11) are actually the derivatives of the objective functions in Eq. (18) and Eq. (26),
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respectively. The global optimization method in MATLAB can be used to find the correct
displacements that make total potential energy minimum and that also satisfy the differential
equation and displacement boundary condition. The differential equation, in fact, does not need
to be considered since bearing displacements here are the displacements of rigid mass point (i.e.
the center of mass of rolling bearing) not a continuum body. The displacement boundary condition
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also does not exist since all the bearing displacements are unknown priori. It may be noted that
since the energy method is based on the principle of minimum potential energy derived from the
theory of elasticity, the approach for solving bearing displacements is assumed to be reliable. In
addition, the energy method seeks the correct displacements from the energy minimization
principle as opposed to earlier approaches [12] based on mathematical viewpoint since the
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nonlinear algebraic Eq. (5) and Eq. (11) are not solved directly. The feature of the proposed
method will yield a fast and robust determination of the bearing stiffness, which can be employed
in the vibration analysis of the geared rotor system modeling the bearing effect as supporting
stiffness.
4. Computational study
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In this section, numerical simulations were conducted to validate the efficiency of the proposed
approach. The combination of loads for ball bearing and roller bearing has been given by Lim and
Singh [12], which outlines the valid input combination of bearing loads. The translational and
rotational displacements due to three different combinations of loads, that are (i) only constant
axial force ; (ii) constant radial force , axial force and moment ; and (iii) constant
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axial force , and moments and are calculated for ball bearing. And, the translational
and rotational displacements for roller bearing subject to three different combinations of loads,
that are (iv) only constant axial force ; (v) constant radial force , axial force and
moment ; (vi) constant radial force , moments and are also calculated in
following computational cases. The design data for ball bearing and roller bearing is listed in
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Table 1 [12].
The energy method is used first to solve for the displacements of inner rings of ball bearing
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and roller bearing due to different combinations of loads. In the proposed computational process,
the algorithm searches all the admissible displacements that make the potential energy of the
bearing systems local minimum, and then finds the correct displacements that make the potential
energy globally minimum from those admissible displacements found locally. In this manner, it
is guaranteed that there is only one solution set for each one of these combinations of loads. The
computational flowchart for solving bearing displacements using the energy method is shown in
Fig. 4. Our new results are also compared to the calculations from the classical Newton method,
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Powell’s hybrid method [24] and Modified Powell’s method [27] applied to the systems of
nonlinear algebraic Eq. (5) and Eq. (11). The comparison shows that all of the methods yield the
same bearing displacements as these obtained from energy method. However, all of these classical
approaches require multiple sets of initial guesses. As noted earlier in this paper, the classical
iterative approaches necessitate the use of different initial guesses to find the proper displacements
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since the number of solutions of nonlinear equations is not known a priori. In contrast, these
cumbersome procedures are not needed in the newly proposed energy method because all the
admissible displacements solutions can be found even if multiple solutions exist for systems of
nonlinear algebraic Eq. (5) and Eq. (11). Further discussions and comparisons are given below.
Table 1. Design parameter for typical ball and roller bearing [12]
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Parameters Ball bearing Roller bearing
Load-deflection exponent, 3/2 10/9
Load-deflection constant, (N/mn) 8.5×109 3.0×108
Number of rolling element, 12 14
Radial clearance, (mm) 0.00005 0.00175
Pitch radius, (mm)
Crown drop, (mm)
(mm)
ON 19.65
–
0.05
21.25
–
0
RS
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R'S
Fig. 4. The computational flowchart of the energy method
For the case of only the axial displacement is non-zero when only the axial force is loaded
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onto the ball bearing, as shown in Fig. 5a, the results are as expected. The axial displacement
decreases with greater unloaded contact angle , which implies the capacity to resist axial force
improves as increases. The same trend is shown when the combinations of loads, that are cases
(ii) and (iii), are applied on the bearing system. For the combination of complex loads, denoted by
case (ii), more non-zero displacements exist, as shown in Fig. 5b. The translational displacements
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in the -direction increase with the unloaded contact angle, which is caused by the curvature of
the raceway that provides lesser resistance to the radial loads. The rotational displacement
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increases in the beginning with increasing unloaded contact angle, and then decreases as the
unloaded contact angle increases further. In Fig. 5c, the bearing inner ring generates rotational
displacements about both the -direction and -direction due to the existence of the moments
and . The radial displacement here is obviously less than for the combination of loads
case (ii) because no radial forces are applied in third case.
0.04 100
Bearing displacement ( rad)
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Bearing displacement (mm)
0.02 
bz
 , 
bx by
0
 , 
bx by
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0.00
-0.02 -100
0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90
Unloaded contact angle (degree) Unloaded contact angle (degree)
Fig. 5a. The displacements of ball bearing given a constant axial force = 3000 N,
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as denoted by case (i)
0.06 700


by
0.04 500
0.02



bx
bz
ON 300
by
0.00 100

RS
bx
-0.02 -100
0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90
Fig. 5b. The displacements of ball bearing given constant radial force = 1000 N, axial force
= 3000 N and moment = 5000 Nmm, as denoted by case (ii)
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0.05 300

by
0.03  200
bz
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
0.01 bx 100 
bx

by
HO
-0.01 0
0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90
Fig. 5c. The displacements of ball bearing given constant axial force = 5000 N, moments
= 3000 Nmm and = 10000 Nmm, as denoted by case (iii)
For the roller bearing, it should be noted that = 0° implies a cylindrical roller bearing type
T
in which only the combinations of radial forces and transverse moments could be applied. This
type of cylindrical roller bearing is not designed to carry axial forces without an axial flange. For
AU
this reason, the bearing structure is not expected to deform axially, and its potential energy is only
a function of the radial and angular displacements. This is evident from the fact that the variation
of axial displacement has no effect on the elastic deformation of roller element due to the vanishing
term sin in the Eq. (6a). Therefore, axial displacement must vanish in the computational
process. To deal with this special case, the lower and upper bounds of axial displacement are both
set to zero, which guarantees that the axial displacement is kept constant at zero value and does
not influence the calculation of the potential energy for each iterative step. This construction is
PY
necessary to attain a reasonable combination of radial and angular displacements with minimal
potential energy. On the other hand, for thrust roller bearing ( = 90°), the radial displacement
should always be set to zero to avoid arbitrary radial translational motion and to ensure only the
axial and angular displacements exist when subject to axial forces and moments. The ability to
discern these special cases is necessary to facilitate the formulation of the proposed energy method
CO
to solve for the bearing displacements for any contact angles for roller bearing. Examples of
computational studies of the roller bearing system are given next.
0.3 0.01
Bearing displacement (rad)

0.2
AL
 , 
bx by
0.1 0.00

bz
0.0
-0.1
10 20 30 40

bx
50 60 70 80
, 
Unloaded contact angle (degree)

by
90
ON -0.01
10 20 30 40 50 60 70 80
90
Fig. 6a. The displacements of roller bearing given a constant axial force = 10000 N,
RS
as denoted by case (iv)
0.3 0.02
Bearing displacement (rad)
0.2
PE
0.01 
  by
bz
bx
0.1

bx
 0.00
by
0.0
R'S
-0.1 -0.01
10 15 20 25 30 10 15 20 25 30
Fig. 6b. The displacements of roller bearing given constant radial force = 3000 N, axial force
= 10000 N, and moment = 10000 Nmm, as denoted by case (v)
HO
The bearing displacement results are shown in Fig. 6a for roller bearing due to constant axial
force, as denoted by case (iv). Since the axial force carrying capacity provided by axial flange is
not considered when contact angle approximates zero, only the displacements for ≥ 10° are
calculated here. The axial displacement decreases with the increasing contact angle similar to the
trend for axially loaded ball bearing. In this case, the axial displacement decreases very rapidly
T
for ≤ 30° and then slows down its decrease by approaching a horizontal asymptote for
≥ 30°. Note that all the other displacements except axial displacement are zero as expected.
AU
The displacements results in roller bearing due to the combination of loads, denoted by case (v),
are obtained as shown in Fig. 6b only for contact angles varying from 10 to 30 degrees because of
the practical limitation in the translational bearing motion for high contact angles. For example,
the radial displacement along the -direction reaches 2.2916 mm when contact angle is at
40 degrees, which is impractical. Also, as expected, there are more non-zero displacements for
this case (v) than the pure axial loading case. Again, it is observed that the axial displacement
decreases when the contact angle increases similar to case (iv). The radial displacement in the
PY
-direction and the rotational angle along the -direction increase with the increasing contact
angle, which implies that the roller bearings with greater angles provide less capacity to resist
radial force, and the incremental radial displacement, contributes to the additional rotational angle.
17.81 0.88
CO
Bearing displacement ( m)
Bearing displacement ( m)
0.86
17.80
0.84
0.82
17.79  
bx by
0.80
0.78
AL
17.78
0.76
17.77 0.74
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Normalized orbital position angle ( / T) Normalized orbital position angle ( / T)
force = 5000 N, moment
2340
= 5000 Nmm, and
ON
Fig. 6c. The variation of radial displacements of cylindrical roller bearing ( = 0°) given constant radial
= 10000 Nmm, as denoted by case (vi)
3835
2330 3830
2320
RS
3825
2310
 3820 
bx by
2300
3815
2290
3810
PE
2280
2270 3805
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Fig. 6d. The variation of rotational displacements of cylindrical roller bearing (α = 0°) given constant
radial force = 5000 N, moment = 5000 Nmm, and = 10000 Nmm, as denoted by case (vi)
R'S
To study the effect of orbital position of roller elements on bearing displacements,

time-varying bearing displacements for cylindrical roller bearing ( = 0°) given constant radial
force , moments and , as denoted by case (vi), are shown in Figs. 6c-6d. The radial
and rotational displacements (axial displacements are zero) behave nearly like a sine wave with
the normalized orbital position angle ( ⁄ , = 2 ⁄ is the element-to-element angular
distance).
HO
5. Parametric studies
The stiffness for ball bearing and roller bearing can be derived as shown below applying Eq. (5)
and Eq. (11):
T
AU
= , , = , , . (27)
The stiffness matrix of rolling element bearing systems includes radial, axial and rotational
stiffness coefficients (diagonal), and coupling stiffness coefficients (off-diagonal). Explicit

expressions of stiffness coefficients as the function of bearing displacements for ball bearing and
PY
roller bearing can be found in Lim and Singh’s [12, 14] papers, as shown in Appendix A1 and A2
(note that is symmetric, i.e., = ).
For ball bearing, the axial and rotational stiffness coefficients given the constant axial bearing
force denoted by case (i), as shown in Fig. 7, increase with the increase in unloaded contact angle
CO
, but the radial stiffness shows the inverse trend. The coupling stiffness coefficients remain
almost constant when the unloaded contact angle is less than 30 degree, and decrease gradually
when exceeds 30 degrees. The results also show that all dominant stiffness coefficients
mentioned above are very significant for deep groove ball bearing, but axial and rotational
stiffness coefficients appear more prominent for angular contact ball bearing.
0.5 0.15
AL
Bearing stiffness (MNm/rad)
Bearing stiffness (MN/mm)
0.4 K
bzz
0.10
0.3 K , K
b x x b  y y
0.2
0.1
0.0
0 10
K
bxx
, K
byy
20 30 40 50 60 70 80
90
ON 0.05
0.00
0 10 20 30 40 50 60 70 80
90
3
RS
K
Bearing stiffness (MN/rad)
2 by x
-1
PE
-2 K
bx y
-3
0 10 20 30 40 50 60 70 80 90
Fig. 7. Dominant stiffness coefficients of ball bearing given a constant axial force = 3000 N,
as denoted by case (i)
R'S
In the case when the ball bearing is subjected to the combinations of , and denoted
by case (ii), as shown in Fig. 8, there are more dominant stiffness terms as compared to the case
with only axial preload. The radial, axial and rotational coefficients show the same trend as seen
in Fig. 7. The coupling terms related to the axial displacement is insensitive to change in .
When the ball bearing is loaded with the combinations of , and denoted by case (iii),
HO
as shown in Fig. 9, the dominant stiffness coefficients are slightly different from the previous two
cases. The coefficient is also very significant for deep groove ball bearing except for the
radial, axial and rotational stiffness terms. From middle to high value of , the axial and
rotational stiffness coefficients are more dominant. The rotational terms, and , are
nearly the same even though the moment is much larger than , but and
T
depict significant differences.

For roller bearing subjected to a constant axial force , as denoted by case (iv),the radial and
AU
rotational stiffness coefficients shown in Fig. 10 display the similar tendency as those seen for
axially loaded ball bearing. The coupled stiffness coefficients are found to be significant in the
middle contact angle range. The stiffness coefficients related to radial displacements vanish when
contact angle is equal to 90° since this type of thrust bearings are not able to carry radial loads and
hence no radial displacements are possible.

More dominant stiffness coefficients are shown in Fig. 11 for roller bearing given the
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combinations of , and , as denoted by case (v). The radial stiffness coefficients are
dominant near the contact angle of 10 degrees but the rational and coupled stiffness coefficients
except for those related to axial displacement are dominant for contact angles approaching
30 degrees.
CO
0.5 0.09

0.4 0.08
K
bzz
0.3
0.07 K
K b y  y
0.2 bxx
K 0.06
0.1 byy
AL
K
b x x
K 0.05
0.0 bxz
-0.1 0.04
0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90
3
ON K
by x
1
K
bz y
0
-1
RS
K
-2 bx y
-3
0 10 20 30 40 50 60 70 80 90
Fig. 8. Dominant stiffness coefficients of ball bearing given constant radial force = 1000 N,
PE
axial force = 3000 N and moment = 5000 Nmm, as denoted by case (ii)
0.6 0.12
0.10
0.4 K K
bzz 0.08 b y y
K
0.06 b x x
R'S
0.2 K
bxx
K 0.04
byy
K
bxy 0.02
0.0 K
b x y
0.00
-0.2 -0.02
0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90
HO
0.8
K
bz y
0.6
0.4
T
K
bz x
0.2
AU
0.0
0 10 20 30 40 50 60 70 80 90
Fig. 9. Dominant stiffness coefficients of ball bearing given constant axial force = 5000 N,
moments = 3000 Nmm and = 10000 Nmm, as denoted by case (iii)
1.5 0.40

PY
1.2 0.30
K
bzz K , K
0.9 b x x b y y
0.20
0.6
K , K 0.10
0.3 bxx byy
CO
0.00
0.0
-0.3 -0.10
10 20 30 40 50 60 70 80 90 10 20 30 40 50 60 70 80 90
8
6 K
by x
4
AL
2
0
-2
-4
K
ON
-6 bx y
-8
10 20 30 40 50 60 70 80 90
Fig. 10. Dominant stiffness coefficients of roller bearing given constant axial force = 10000 N,
as denoted by case (iv)
RS
0.8 0.08
K K
0.6 byy
b x x
0.06
K
bxx
0.4
K
0.04 b y y
0.2 K
PE
bzz
K
bxz
0.02
0.0
-0.2 0.00
10 15 20 25 30 10 15 20 25 30
6
R'S
K
4 by x
2
K
bz y
0
-2
K
HO
-4 bx y
-6
10 15 20 25 30
Fig. 11. Dominant stiffness coefficients of roller bearing given constant radial force = 3000 N,
axial force = 10000 N and moment = 10000 Nmm, as denoted by case (v)
T
The dominant time-varying stiffness coefficients for cylindrical roller bearing ( = 0°) due
to combination of loads , and denoted by case (vi) are shown in Fig. 12. The stiffness
AU
coefficients fluctuate with the orbital position of roller elements corresponding to the fluctuation
of displacements observed in Figs. 6c-6d. The coupled stiffness coefficients vary more
substantially than non-coupled stiffness coefficients. It is expected that incorporation of these
time-varying stiffness coefficients can contribute to improvement in results of dynamic analysis
of the bearing-supported geared rotor systems as compared to using only the averaged bearing
stiffness values [13].
PY
315 292
Bearing stiffness (MN/m)

314 288
313 284
CO
K K
bxx byy
312 280
311 276
310 272
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
AL
10 2.6
Bearing stiffness (kNm/rad)

8 2.5
K K
bxy
b x x
6
4
0 0.2 0.4 0.6 0.8 1
ON 2.4
2.3
0 0.2 0.4 0.6 0.8 1
RS
2.54 25
Bearing stiffness (kNm/rad)
Bearing stiffness (Nm/rad)
10
2.52
-5
2.50 K -20 K
b y y b x y
PE
-35
2.48
-50
2.46 -65
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Fig. 12. The variation of stiffness coefficients of cylindrical roller bearing ( = 0°) given constant radial
R'S
force = 5000 N, moments = 5000 Nmm and = 10000 Nmm, as denoted by case (vi)
It is worth mentioning that the proposed energy method is highly efficient in calculating the
bearing displacements and stiffness. In real time, all the cases showed that the bearing results only
took several seconds to compute at specified orbital position of roller elements and unloaded
contact angle using a typical desktop computer. The parameters studies show that most bearing
HO
stiffness terms vary significantly with unloaded contact angle except for those having zero values,
and the time-varying characteristic of the stiffness terms may also be important.
6. Conclusions
A fast and reliable numerical-based energy method based on principle of minimum potential
T
energy is developed and applied to compute for the displacements of ball and roller bearings under
complex loads. In this energy method, a global optimal problem is analyzed in which the potential
AU
energy of the bearing system constitute the objective function. The global optimization algorithm
is used to solve for the bearing displacements. The bearing displacements can be obtained by
searching and finding the minimum total potential energy of the bearing system instead of solving
the system of nonlinear algebraic equations directly. In addition, the proposed energy method
derived from the well-established theory of elasticity runs quicker by avoiding the extra trial and
error efforts in testing a range of initial estimates as needed in the classical iterative method. The
PY
computed bearing stiffness will be very important for the vibration analysis of the geared rotor
system in order to design a quiet driveline. Also, the proposed energy method can be employed to
analyze the sensitivity of bearing parameters on the potential energy, which can be applied to
study the vibration problem of certain designed bearings.
The effect of unloaded contact angle on bearing stiffness of ball and roller bearings is analyzed.
CO
The analysis reveals the trends of the dominant stiffness coefficients. Time-varying characteristic
of the stiffness coefficients are also studied using the proposed energy method. The analysis shows
that the coupled stiffness coefficients are more sensitive to orbital position of roller elements as
compared to non-coupled stiffness coefficients.
Acknowledgements
AL
This research is subsidized by the Natural Science Foundation of China (Grant No. 51175072)
and the Research Fund for the Doctoral Program of Higher Education of China (Grant
No. 20110042130003), and completed as part of the collaboration with the College of Engineering
and Applied Science at the University of Cincinnati.
References
[1]
ON
Lim T. C., Singh R. A Review of Gear Housing Dynamics and Acoustics Literature. National
Aeronautics and Space Administration, 1989.
[2] Wang J. Nonlinear Time-varying Gear Mesh and Dynamic Analysis of Hypoid and Bevel Geared
RS
Rotor Systems. Ph.D. Thesis, University of Cincinnati, Cincinnati, 2007.
[3] Wang J., Lim T. C., Li M. Dynamics of a hypoid gear pair considering the effects of time-varying
mesh parameters and backlash nonlinearity. Journal of Sound and Vibration, Vol. 308, Issue 1, 2007,
p. 302-329.
[4] Zhu C. C., Song C. S., Lim T. C., Peng T. Effects of assembly errors on crossed beveloid gear tooth
PE
contact and dynamic response. ASME 2011 International Design Engineering Technical Conferences
and Computers and Information in Engineering Conference, American Society of Mechanical
Engineers, 2011.
[5] Peng T. Coupled Multi-Body Dynamic and Vibration Analysis of Hypoid and Bevel Geared Rotor
System. Ph.D. Thesis, University of Cincinnati, Cincinnati, 2011.
[6] Yang J. Nonlinear Dynamics of Driveline Systems with Hypoid Gear Pair. Ph.D. Thesis, University
of Cincinnati, Cincinnati, 2012.
R'S
[7] He S., Gunda R., Singh R. Effect of sliding friction on the dynamics of spur gear pair with realistic
time-varying stiffness. Journal of Sound and Vibration, Vol. 301, Issue 3, 2007, p. 927-949.
[8] Jones A. B. New departure engineering data: analysis of stresses and deflections. New Departure
Division, General Motors Corporation, Vol. 2, 1946.
[9] Harris T. A. Rolling Bearing Analysis. Wiley, New York, 1984.
[10] Palmgren A. Ball and Roller Bearing Engineering. SKF Industries Inc., Philadelphia, 1959.
HO
[11] Gargiulo E. A simple way to estimate bearing stiffness. Machine Design, Vol. 52, Issue 17, 1980,
p. 107-110.
[12] Lim T. C., Singh R. Vibration transmission through rolling element bearings, part I: bearing stiffness
formulation. Journal of Sound and Vibration, Vol. 139, Issue 2, 1990, p. 179-199.
[13] Lim T. C., Singh R. Vibration transmission through rolling element bearings, part II: system studies.
Journal of Sound and Vibration, Vol. 139, Issue 2, 1990, p. 201-225.
T
[14] Lim T. C., Singh R. Vibration transmission through rolling element bearings, part V: effect of
distributed contact load on roller bearing stiffness matrix. Journal of Sound and Vibration, Vol. 169,
Issue 4, 1994, p. 547-553.
AU
[15] Hernot X., Sartor M., Guillot J. Calculation of the stiffness matrix of angular contact ball bearings
by using the analytical approach. Journal of Mechanical Design, Vol. 122, Issue 1, 2000, p. 83-90.
[16] Guo Y., Parker R. G. Stiffness matrix calculation of rolling element bearings using a finite
element/contact mechanics model. Mechanism and Machine Theory, Vol. 51, 2012, p. 32-45.
[17] Knaapen R., Kodde L. Experimental Determination of Rolling Element Bearing Stiffness. Ph.D.
Thesis, Eindhoven University of Technology, Eindhoven, The Netherlands, 1997.
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[18] Tiwari R., Chakravarthy V. Simultaneous identification of residual unbalances and bearing dynamic
parameters from impulse responses of rotor-bearing systems. Mechanical systems and signal
processing, Vol. 20, Issue 7, 2006, p. 1590-1614.
[19] Peng T., Lim T. C. dynamics of hypoid gears with emphasis on effect of shaft rotation on vibratory
response. ASME 2007 International Design Engineering Technical Conferences and Computers and
CO
Information in Engineering Conference, American Society of Mechanical Engineers, 2007.
[20] Peng T., Lim T. C. Influence of gyroscopic effect on hypoid and bevel geared system dynamics. SAE
International Journal of Passenger Cars-Mechanical Systems, Vol. 2, Issue 1, 2009, p. 1377-1386.
[21] Yang J., Lim T. C. Dynamics of coupled nonlinear hypoid gear mesh and time-varying bearing
stiffness systems. Dynamics, Vol. 1, 2011, p. 1548.
[22] He S., Singh R., Pavic G. Effect of sliding friction on gear noise based on a refined vibro-acoustic
formulation. Noise Control Engineering Journal, Vol. 56, Issue 3, 2008, p. 164-175.
AL
[23] Liew H. V., Lim T. C. Analysis of time-varying rolling element bearing characteristics. Journal of
Sound and Vibration, Vol. 283, Issue 3, 2005, p. 1163-1179.
[24] Powell M. J. A hybridmethod for nonlinear equations. Numerical Methods for Nonlinear Algebraic
Equations, Vol. 7, 1970, p. 87-114.
[25] Johnson K. J. Contact Mechanics. Cambridge University Press, Cambridge, 1985.
ON
[26] Hu H. Variational Principles of Theory of Elasticity with Applications. CRC Press, 1984.
[27] Chen H. S., Stadtherr M. A. A modification of Powell’s dogleg method for solving systems of
nonlinear equations. Computers and Chemical Engineering, Vol. 5, Issue 3, 1981, p. 143-150.
Appendix
RS
A1. Expression of the ball bearing stiffness coefficients
( ∗)
− cos ( ) + − ( ∗)
−
= ,
PE
( ∗)
− cos ( ) + − ( ∗)
−
= ,
− ( ∗ ) ( ∗ ) cos( ) −1
R'S
−
= ,
− ( ∗ ) ( ∗ ) sin( )cos( ) −1
−
= ,
HO
− ( ∗ ) ( ∗ ) cos ( ) 1−
−
= ,
( ∗)
( − ) sin ( ) + − ( ∗)
T
−
= ,
AU
− ( ∗ ) ( ∗ ) sin( ) −1
−
= ,
− ( ∗ ) ( ∗ ) sin ( ) −1
−
PY
= ,
− ( ∗ ) ( ∗ ) sin( )cos( ) 1−
−
= ,
CO
( ∗)
( − ) + − ( ∗)
−
= ,
( ∗)
( − ) sin( ) + − ( ∗)
AL
−
= ,
( ∗)
( − ) cos( ) ( ∗) − −
−
=
( − ) sin ( )
−
ON
( ∗)
+ − ( ∗)
,
= ,
RS
( ∗)
( − ) sin( )cos( ) ( ∗) − −
−
= ,
( ∗)
PE
( − ) cos ( ) + − ( ∗)
−
= ,
= = 0, = , , ,
R'S
where: ( ∗ ) = 0 sin 0 + ( ) and ( ∗ ) = 0 cos 0 +( ) .
A2. Expressions of the roller bearing stiffness coefficients
= cos ( ) cos ( ),
HO
= cos ( ) cos( )sin( ),

T
= cos( )sin( ) cos( ),

AU
= cos( ) ( sin( ) − )cos( )sin( ),
= cos( ) ( − sin( ))cos ( ),
PY
= cos ( ) sin ( ),
CO
= cos( )sin( ) sin( ),
= cos( ) ( sin( ) − )sin ( ),
=− ,
AL
= sin ( ) ,
=
(
sin(
)
)
(
( −
sin( ) − )sin(
sin( ))cos(
ON),
),
RS
= ( sin ( )−2 sin( ) + )sin ( ),
= (2 sin( )− sin ( ) − )sin( )cos( ),

PE
= ( sin ( )−2 sin( ) + )cos ( ),
= = 0, = , , ,
R'S
where:
= ( , )− ( , ), = 0, 1, 2,
in which:
HO
( + ) ( ) ( + ) ( − 1)( + )
( ) − + , ≠ 0,
( + 1) ( + 1)( + 2)
( , )=
( )
, = 0.
+1
T
AU
Yu Zhang received his B.Sc. and M.Sc. degrees from Liaoning Shihua University and
Taiyuan University of Technology, China, respectively. He is presently a Ph.D. candidate
PY
in Mechanical Engineering at Northeastern University, China. His research interest
includes bearing stiffness, dynamics and lubrication.
CO
Guohua Sun is a currently postdoctoral researcher in the Department of Mechanical and
Materials Engineering at the University of Cincinnati, and a member of INCE and SAE.
His research interest includes active noise control, adaptive signal processing and
automotive NVH. He received his B.Sc. (2006), M.Sc. (2009) and Ph.D. (2013) in
Mechanical Engineering from Shanghai Ocean University, Tongji University and the
University of Cincinnati, respectively.
AL
Teik C. Lim has been on the Mechanical Engineering faculty at the University of
Cincinnati since 2002, and is presently the Dean of the College of Engineering and Applied
Science. He has published widely with substantial of them on his pioneering research work
in 3-dimensional gearing dynamics, active noise and vibration control, and vehicle
ON
structural dynamics. He received his B.Sc. (1985), M.Sc. (1986) and Ph.D. (1989) degrees
in Mechanical Engineering from the Michigan Technological University, University of
Missouri-Rolla and Ohio State University, respectively.
Liyang Xie is a professor (from 1992 to present) in the Department of Mechanical

Engineering at Northeastern University, China. He received his B.Sc. (1982) in
RS
Mechanical Manufacturing, M.Sc. (1985) and Ph.D. (1988) degrees in Mechanical Fatigue
and Reliability from Northeastern University, China. His research interests include CAE,
structural fatigue and system reliability. He has published more than 100 papers in journals
such as IEEE Transactions on Reliability, International Journal of Performability
Engineering, International Journal of Reliability, Quality and Safety Engineering, and
PE
International Journal of Fatigue, et al.

R'S
T HO
AU
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A fast and reliable numerical method for analyzing loaded

Article in Journal of Vibroengineering · March 2015

Yu Zhang Guohua Sun

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correct solution efficiently and reliably.

components that inherently have nonlinear static/dynamic characteristics. Moreover, when a

2. Bearing load-displacement relations

= sin +( ) + cos +( ) , (1c)

by the Hertzian contact theory [25]:

= cos cos + cos sin + sin − + sin sin

generated by the translational displacement of the inner ring, and

∆ , = − sin + cos = − sin + cos = , (6b)

=− sin + cos , (6c)

dimensionless parameter and its azimuth angle :

above discussion, the subset ( , ) can be given as:

roller element is , then the contact load

Fig. 4. The computational flowchart of the energy method

Bearing displacement ( rad)

Bearing displacement ( rad)

Bearing displacement (rad)

Unloaded contact angle (degree)

Bearing displacement (rad)

force = 5000 N, moment

To study the effect of orbital position of roller elements on bearing displacements,

stiffness coefficients (diagonal), and coupling stiffness coefficients (off-diagonal). Explicit

depict significant differences.

hence no radial displacements are possible.

Bearing stiffness (MNm/rad)

Bearing stiffness (MNm/rad)

Bearing stiffness (MN/m)

Bearing stiffness (kNm/rad)

Bearing stiffness (Nm/rad)

where: ( ∗ ) = 0 sin 0 + ( ) and ( ∗ ) = 0 cos 0 +( ) .

A2. Expressions of the roller bearing stiffness coefficients

= cos ( ) cos( )sin( ),

= cos( )sin( ) cos( ),

= cos( ) ( sin( ) − )cos( )sin( ),

= cos( ) ( − sin( ))cos ( ),

= cos( ) ( sin( ) − )sin ( ),

= (2 sin( )− sin ( ) − )sin( )cos( ),

= ( sin ( )−2 sin( ) + )cos ( ),

Liyang Xie is a professor (from 1992 to present) in the Department of Mechanical

International Journal of Fatigue, et al.

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