MAE 364

Kinematics and
Dynamics of Machines
Dr. Jagadeep Thota

Chapters 12 & 13:

Gears & Gear Trains

Gears
Gears are used to transmit motion from a rotating shaft to
another which rotates, OR from a rotating shaft to a body
which translates and which can be considered as rotating
about an axis of infinity.
Gears are machine elements that transmit motion by means
of successively engaging teeth.
Gears are highly efficient due to primarily rolling contact
between the teeth.

Gears do not depend on friction and do best when friction is

minimized.

MAE 364: Gears

JT

Spur Gear
They are the simplest and most common type of gears.
They transmit motion between parallel shafts.

They can be straight OR helical based on how the teeth are cut.
Straight Spur Gear

Helical Spur Gear

The teeth are cut in a straight line.

The teeth are cut in a more complex angle

Pictures from science.howstuffworks.com

MAE 364: Gears

JT

Bevel Gear
Bevels gears permit transmission of motion between two shafts
angled relative to each other.

The top surface of the gear teeth can be extended to form a

cone.

Picture from science.howstuffworks.com

MAE 364: Gears

JT

Worm Gear
This comprises of a worm (similar in shape to a screw thread)
which meshes with a worm gear (looks similar to a spur gear).

Power is always supplied to the worm.

They are used to produce high reduction in speeds in a compact
space.

Gear train (compound) with the worm gear

Picture from bidatools.com

Picture from science.howstuffworks.com

MAE 364: Gears

JT

Rack and Pinion

These are a pair of gears which convert rotational motion into
linear motion.

The pinion (which looks like a spur gear) meshes with a linear
gear known as rack.
The rotational motion of the pinion in converted to a linear motion
of the rack.

Car Steering Mechanism

Picture from knowtheworld.in

Picture from iescjmechanisms.wikispaces.com

MAE 364: Gears

JT

Gear Nomenclature

Picture from dieselpunks.org

MAE 364: Gears

JT

Diametral Pitch
Diametral pitch (P) is defined as the teeth per millimeter of
pitch diameter.

For a pair of mating (meshed) gears, the diametral pitch

should be equal.
This will result (theoretically) in a pure rolling contact
between the pair of gears (no slippage or sliding).

Where,
number of teeth on the gear
D pitch diameter of the gear (in or m)

MAE 364: Gears

JT

1 1

Fundamental Law of Gearing

Derived In-class on White Board
The gears are represented in simplified diagrams as just
circles. The diameter of these circles represents the pitch
diameter (D).
=

3
2
=
2
3

Fundamental Law of Gearing

The negative sign in the above equation indicates that gear

3 will be rotating in the opposite direction to gear 2.
Where,
3 speed of gear 3 which is meshing with gear 2 (rpm or rad/s)
2 speed of gear 2 which is in mesh with gear 3 (rpm or rad/s)
3 number of teeth on gear 3
2 number of teeth on gear 2
MAE 364: Gears

JT

Gear Train
A combination of gears arranged for the purpose of
transmitting torque and rotational motion from an input shaft
to an output shaft is called a gear train.
Gear trains are used to transmit torque and rotary motion
within machines AND/OR to change the rotational speed of
various machine elements.
Gear trains generally reduce speed and increase torque.
Gear trains are also used when the gear ratio requirement
cannot be met OR practically will lead to unacceptable
design.
For example; a gear ratio of 10:1 is needed. This will result in one of the
gear diameter to be 10 times larger than the other gear diameter. This will
result in a poor design due to such big variation in gear sizes and
wastage of material and space enclosing the huge gear.

MAE 364: Gears

JT

Gear Train Classification

Gear Train
Planetary

Ordinary

Simple

MAE 364: Gears

Epicyclic

Compound

JT

Differential

Simple Gear Train

Two or more gears are in mesh such that they form a consecutive sequence
from input to output.
The outer most gears are the input and output gears.
The gears in between the output and input gears are known as the idler gears.
If there are even number of idle gears then the output gear will rotate in the
opposite direction to input gear.
If there are odd number of idle gears then the output and input gears will rotate in the same
direction.

Output gear

Input
gear
Idler gears
Picture from www.rlt.com

MAE 364: Gears

JT

Example 1: Simple Gear Train

MAE 364: Gears

JT

Example 2: Simple Gear Train

Determine the speed (and direction) of the output
gear if the input gear is rotating at 200 rpm
clockwise.

MAE 364: Gears

JT

Example 2: Simple Gear Train

Solution:
- In order to calculate the magnitude for a simple gear train just pick input and output
gears.
- Then apply the fundamental law of gearing to this pair of gears:

32
=
=
= 1.33

24
- Given, = 200
= 1.33 = 1.33 200 = 266.67
- The negative sign in the above answer indicates the output gear rotates opposite to the
input gear.

= 266.67

MAE 364: Gears

JT

Compound Gear Train

This gear train has four or more gears of which at least two
are attached to the same shaft.
In simple gear train, none of the gears share a shaft.

Preferred for large velocity ratios.

Picture from imgarcade.com

Picture from curriculum.vexrobotics.com

MAE 364: Gears

JT

Example 3: Compound Gear Train

Find the speed (velocity) ratio of the shown compound gear
train.
Given, N2 = 9, N3 = 62, N4 = 20, N5 = 51, N6 = 15, N7 = 54

MAE 364: Gears

JT

Example 3: Compound Gear Train

Solution:
3
2
=
2
3

Going from input towards output:4

= 1 ( )
3

6
= 1 ( )
5

7 6
=
6 7

Now,
7 7 6 5 4 3
=

=
2 6 5 4 3 2

5
4
=
4
5

No ve sign since the internal teeth of gear 7 and

the external teeth of gear 6 make an internalexternal gear pair. Gears with such a pair rotate
in the same directions

6
4
2
6 4 2
1
1
=
7
5
3
7 5 3

7
15209
=
= +0.0158 Therefore, speed ratio of the given compound gear train is
2
545162
+0.0158.

= +0.0158
2
MAE 364: Gears

This means, the output gear (and shaft) will rotate in the
same direction as the input gear (shaft), and the output
speed will be reduced by 0.0158 times the input speed.
JT

Epicyclic (Planetary Gear Train)

In epicyclic gearing the axis of at least one gear, called the planet gear,
moves on a circular path relative to the base link.
It comprises of:
A centrally located sun gear (link 2) which has external teeth.
An outer ring gear which has internal teeth (link 5).
And one or more planet gears (link 4) whose external teeth mesh with the sun
gear and the ring gear.
An arm or crank (link 3) connecting the sun gear and planet gear.

MAE 364: Gears

JT

Example 4: Epicyclic Gearing

For the epicyclic system shown:
Determine the unknown output speed?
Is the shown output rotation direction correct?

MAE 364: Gears

JT

Example 4: Epicyclic Gearing

Solution:
Fixed

Output

Input

Gear

Arm

Teeth

63

21

20

21

Rigid Motion

Relative Motion

-1

-3

-3

2.86

Total Motion

-2

-2

3.86

63
1 = 3
21

= +

20
3 = +2.86
21

1
=
=
= 0.26

3.86
= 0.26 = 0.26 300 = 77.78

= 77.78
The output rotation direction shown in the figure is wrong
MAE 364: Gears

JT

Example 5: Epicyclic Gearing

For the epicyclic system shown:
Determine the unknown output speed?
Is the shown output rotation direction correct?

MAE 364: Gears

JT

Example 5: Epicyclic Gearing

Solution:
Fixed

Input

Output

Gear

Arm

Teeth

60

25

40

20

100

Rigid Motion

Relative Motion

-1

-2.4

-2.4

4.8

-0.96

Total Motion

-1.4

-1.4

5.8

0.04

60
1 = 3
25

= +

40
2.4 = +4.8
20

0.04
1
=
=
=

5.8
145
=

40
=
2.4 = 0.96
100

1
1
=
1800 = 12.41
145
145

= 12.41

The output rotation direction shown in the figure is correct.

MAE 364: Gears

JT