KINEMATICS OF MACHINES

CHAPTER 4: SPUR GEARS

Introduction of Spur Gears
Classification of Gears
Application of Gear Drives
Spur Gear Terminology
Definitions
Some Important formulae

CHAPTER 4: SPUR GEARS

Law of gearing
Constant velocity ratio
Conjugate action
Tooth profiles
Advantages of involute and cycloidal tooth profile
Properties of involute profile
Systems of gear tooth
Involumetry
3

Consider a pinion driving

wheel as shown in figure.
When the pinion rotates in
clockwise,
the
contact
between a pair of involute
teeth begins at K (on the
near the base circle of pinion
or the outer end of the tooth
face on the wheel) and ends
at L (outer end of the tooth
face on the pinion or on the
flank near the base circle of
wheel).

O2
RA

Wheel

N
L
P

Base Circle

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

MN is the common normal

at the point of contacts and
the common tangent to the
base circles. The point K is
the intersection of the
addendum circle of wheel
and the common tangent.
The point L is the
intersection
of
the
addendum circle of pinion
and common tangent.

O2
RA

Wheel

N
L
P

Base Circle

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

The length of path of contact

is the length of common
normal
cut-off
by
the
addendum circles of the
wheel and the pinion. Thus
the length of part of contact
is KL which is the sum of the
parts of path of contacts KP
and PL. Contact length KP is
called as path of approach
and contact length PL is
called as path of recess.

O2
RA

Wheel

N
L
P

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

ra = O1L = Radius of
addendum circle of pinion,
and
R A = O2K = Radius of
addendum circle of wheel

O2
RA
R

N
L
P

r = O1P = Radius of pitch

circle of pinion,
and
R = O2P = Radius of pitch
circle of wheel.

Wheel

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

O2

Radius of the base circle of

pinion = O1M

RA

Wheel

= O1P cos = r cos

N
L

and

radius of the base circle of

wheel = O2N

= O2P cos = R cos

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

10

O2

From right angle triangle O2KN

KN

O2 K
RA

O2 N

KP KN PN

RA 2 R 2 cos 2 R sin

Path of approach: KP

Wheel

R cos
2

PN O2 P sin R sin

RA

L
P
M

Pitch
Circle
Addendum
Circles

K
r

ra
O1

Pinion

Pitch
Circle
Base Circle

11

Similarly from right angle triangle

O1ML

ML

O1L
ra

O1M

RA

Path of recess: PL

PL ML MP

ra 2 r 2 cos 2 r sin

r cos
2

Wheel

MP O1 P sin r sin

O2

L
P
M

Pitch
Circle
Addendum
Circles

K
r

ra
O1

Pinion

Pitch
Circle
Base Circle

12

Length of path of contact = KL

KL KP PL

RA 2 R 2 cos 2 ra 2 r 2 cos 2 R r sin

13

O2

Arc of contact is
the path traced by
a point on the
pitch circle from
the beginning to
the
end
of
engagement of a
given
pair
of
teeth. In Figure,
the arc of contact
is EPF or GPH.

RA

Wheel

R
L

Gear
Profile

N
F

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

14

O2

Considering the arc of

contact GPH.
The arc GP is known as
arc of approach and the
arc PH is called arc of
recess. The angles
subtended by these
arcs at O1 are called
angle of approach and
angle
of
recess
respectively.

RA

Wheel

R
L

N
F

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

15

Length of arc of approach = arc GP

Lenght of path of approach

KP

cos
cos
Length of arc of recess = arc PH

Lenght of path of recess

PL

cos
cos
Length of arc contact = arc GPH = arc GP + arc PH

KP
PL
KL
Length of path of contact

cos cos cos

cos
16

The contact ratio or the number of pairs of teeth in contact is

defined as the ratio of the length of the arc of contact to the
circular pitch.
Mathematically,

Length of the arc of contact

Contat ratio
PC
Where:

PC Circular pitch m

and

m = Module.

17

Continuous
motion
transfer requires two
pairs of teeth in
contact at the ends
of the path of
contact,
though
there is only one pair
in contact in the
middle of the path, as
in Figure.

18

19

The average number of

teeth in contact is an
important parameter - if it is
too low due to the use of
inappropriate profile shifts or
to an excessive centre
distance.The manufacturing
inaccuracies may lead to
loss of kinematic continuity that is to impact, vibration
and noise.

20

The average number

of teeth in contact is
also a guide to load
sharing
between
teeth; it is termed the
contact ratio

21

The rack is part of toothed wheel of infinite diameter. The

base circle diameter and profile of the involute teeth are
straight lines.
PITCH LINE
Pc
h

a
b

RACK

22

Base Circle

PINION

PITCH LINE

RACK

23

Let
r = Pitch circle radius of
the pinion=O1P
= Pressure angle
ra.= Addendum radius of
Pitch line of rack
the pinion
a = Addendum of rack
EF=Length of path of
contact

Addendun circle of pinion

Pitch circle of pinion
Base circle of pinion
O1

ra
r

N
A
F

RACK

Addendum line of rack

a
b

c
24

EF = Path of approach EP + Path of recess PF

AP
a
sin

EP EP
a
Path of approach EP
sin
Path of recess PF NF NP
From triangle O1 NP :

(1)
(2)
(3)

NP O1 P sin r sin
O1 N O1 P cos r cos
25

From triangle O1NF:

NF O1 F 2 O1 N

1
2 2

2
a

r 2 cos 2

1
2

Substituting NP and NF values in the equation (3)

Path of racess PF ra2 r 2 cos 2

1
2

r sin

Path of length of contact EF EP PF

ra2 r 2 cos 2
sin

1
2

r sin

26

Length of path of contact in spur gear

Arc of contact in spur gear
Contact ratio in spur gear
Number of pair of teeth in contact in spur gears
Length of path of contact in Rack and pinion

27

Two spur wheels have 24 and 30 teeth with a standard

addendum of 1 module. The pressure angle is 20.
Calculate the path of contact and arc of contact.
Solution:
Data: t =24; T=30; addendum = 1m and =20

mt m 24
Pitch circle radius of the pinion r

12m
2
2
mT m 30
Pitch circle radius of the gear R

15m
2
2

28

Addendum circle radius of the pinion ra r m

ra 12m m 13m
Addendum circle radius of the gear

RA R m

RA 15m m 16m

29

O2

Length of path of contact KL

RA

KP PL

RA

KL

ra

R r sin

R 2 cos 2
r 2 cos 2

Wheel

L
P
M

Pitch
Circle
Addendum
Circles

K
r

ra
O1

Pinion

Pitch
Circle
Base Circle

30

Length of path of contact KL KP PL

RA 2 R 2 cos 2 ra 2 r 2 cos 2 R r sin

16m 2 15m 2 cos 2 20 13m 2 12m 2 cos 2 20

15m 12m sin 20

4.802m
Length of path of contact
Length of arc of contact
cos
4.802m

5.11m, mm
cos 20
31

Two gears in mesh have a module of 8 mm and a

pressure angle of 20. The larger gear has 57 teeth
while the pinion has 23 teeth. If the addenda on pinion
and gear wheel are equal to one module (1m), find
1. The number of pairs of teeth in contact and
2. The angle of action of the pinion and the gear wheel.
Solution:
Data: t =23; T=57; addendum = 1m= 8mm and =20

32

mt 8 23
Pitch circle radius of the pinion r

92mm
2
2
mT 8 57
Pitch circle radius of the gear R

228mm
2
2
Addendum circle radius of the pinion ra r addendum
ra 92 8 100mm
Addendum circle radius of the gear

RA R addendum

RA 228 8 236mm

33

O2

Length of path of contact KL

RA

KP PL

RA

KL

ra

R r sin

R 2 cos 2
r 2 cos 2

Wheel

L
P
M

Pitch
Circle
Addendum
Circles

K
r

ra
O1

Pinion

Pitch
Circle
Base Circle

34

Length of path of contact KL KP PL

RA 2 R 2 cos 2 ra 2 r 2 cos 2 R r sin

236 2 228 2 cos 2 20 100 2 92 2 cos 2 20

228 92 sin 20

39.76mm
Length of path of contact
Length of arc of contact
cos
39.76

42.31mm
cos 20
35

Length of arc of contact

Number of pairs of teeth in contact
circular pitch
Length of arc of contact 42.31

1.684 2
pc
m
Length of arc of contact
Angle of action of gear wheel
360 o
2 R
42.31

360 10.637 o 10 o 38'16' '

2 228
Length of arc of contact
Angle of action of pinion
360 o
2 r
42.31

360 26.36 o 26 o 21' 47' '

2 92
36

Angle of action of pinion 26.36

2.478 and
Angle of action of gear
10.637
T 57

2.478
t 23

37

The following data refers to two mating involute gears of

20 pressure angle. Number of teeth on pinion is 20. Gear
ratio = 2, speed of pinion is 250 rpm, module = 12 mm. If
the addendum on each wheel is such that the path of
approach and the path of recess on each side are half of
the maximum permissible length, find the maximum
velocity of sliding during approach and recess and the
length of arc of contact.
Solution:
Data: t =20; G=2; m= 12mm;

n=250rpm and =20

38

mt 12 20
Pitch circle radius of the pinion r

120mm
2
2
T
T
Gear ratio 2

2
t
20
Number of teeth on gear T 2 20 40
Pitch circle radius of the gear

mT 12 40
R

240mm
2
2

39

O2

From the given condition:

Re quired path of approach :

Maximum path of approach

2
r sin

2
120 sin 20

20.52mm
2

Wheel

RA

N
L
P

Base Circle

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

40

O2

Re quired path of recess :

Maximum path of recess

2
R sin

2
240 sin 20

41.04mm
2

Wheel

RA

N
L
P

Base Circle

Pitch
Circle
Addendum
Circles

M
r

ra
O1

Pinion

Pitch
Circle
Base Circle

41

Path of approach: KP

KP KN PN

R A 2 R 2 cos 2 R sin

20.52

R A 2 240 2 cos 2 20 240 sin 20

R A 247.77 mm addendum radius of the gear

Addendum of the gear R A R 247.77 240 7.77 mm

42

Path of recess: PL

PL ML MP

rA

41.04

r 2 cos 2 r sin

rA 2 120 2 cos 2 20 120 sin 20

rA 139.46mm addendum radius of the pinion

Addendum of the pinion rA r 139.46 120 19.46mm

Path of contact = Path of approach + Path of recess
= 20.52 + 41.04 = 61.56 mm
43

Path of recess: PL

PL ML MP

rA

41.04

r 2 cos 2 r sin

rA 2 120 2 cos 2 20 120 sin 20

rA 139.46mm addendum radius of the pinion

Addendum of the pinion rA r 139.46 120 19.46mm

Path of contact = Path of approach + Path of recess
= 20.52 + 41.04 = 61.56 mm
44

Path of contact 61.56

Arc of contact

65.51mm
cos
cos 20
2 n
Angular speed of the pinion p
60
2 250

26.16 rad / sec

60
2 N 2 n
Angular speed of the gear G

60
60 G
2 250

13.08 rad / sec

60 2
45

Maximum velocity of sliding during approach :

P G Path of approach

26.16 13.08 20.52 805.2mm / sec

Maximum velocity of sliding during reces s :

P G Path of recess

26.16 13.08 41.04 1610.4mm / sec

46