ME 2213

Dynamics and Kinematics of Machineries

Credit: 3.00
Department of Energy Science and Engineering

Gears

Karib Hassan Khan

Lecturer
Department of Mechanical Engineering
Khulna University of Engineering & Technology (KUET)
Khulna-9203, Bangladesh
Email: Karibhk@me.kuet.ac.bd
 Gears
➢ The slipping of a belt or rope is a common phenomenon, in the transmission
of motion or power between two shafts. The effect of slipping is to reduce
the velocity ratio of the system.

➢ In precision machines, in which a definite velocity ratio is of

importance (as in watch mechanism), the only positive drive is by
means of gears or toothed wheels. A gear drive is also provided, when
the distance between the driver and the follower is very small.

➢ A Gear is a rotating circular machine part having cut teeth, which mesh with another toothed part to
transmit (convert) torque and speed.
✓ It is used to transmit mechanical power from one shaft to the other successively engaging its teeth.
Gears are one of the most used method of mechanical power transmission in the machines. The history of gear
is old and the use of gears already appears in ancient Greece in B.C. in the writing of Archimedes.
 Gears
➢ The motion and power transmitted by gears is kinematically equivalent to that transmitted by friction
wheels or discs. Consider two plain circular wheels A and B mounted on shafts, having sufficient rough surfaces
and pressing against each other as shown in Fig.
➢ Let the wheel A be keyed to the rotating shaft and the wheel B to the shaft, to be rotated. When the wheel A is
rotated by a rotating shaft, it will rotate the wheel B in the opposite direction as shown in Fig.(a). The wheel B will
be rotated (by the wheel A) so long as the tangential force exerted by the wheel A does not exceed the maximum
frictional resistance between the two wheels. But when the tangential force (P) exceeds the frictional resistance
(F), slipping will take place between the two wheels. Thus the friction drive is not a positive drive.

➢ In order to avoid the slipping, a number of

projections (called teeth) as shown in Fig.(b), are
provided on the periphery of the wheel A, which
will fit into the corresponding recesses on the
periphery of the wheel B. A friction wheel with the
teeth cut on it is known as toothed wheel or gear.
The usual connection to show the toothed wheels
is by their pitch circles.

➢ Kinematically, the friction wheels running without slip and toothed gearing are identical. But due to the possibility
of slipping of wheels, the friction wheels can only be used for transmission of small powers.
Gears
 Gear Terminology
➢ Pitch circle: It is an imaginary circle which by
pure rolling action, would give the same
motion as the actual gear.
➢ Pitch circle diameter: It is the diameter of
the pitch circle. The size of the gear is usually
specified by the pitch circle diameter. It is also
known as pitch diameter.
➢ Pitch point: It is a common point of contact
between two pitch circles.
➢ Pitch surface: It is the surface of the rolling
discs which the meshing gears have replaced
at the pitch circle.
➢ Pressure angle or angle of obliquity: It is
the angle between the common tangent to
two base circles and the common tangent to
the pitch circles at the pitch point. It is usually
denoted by φ. The standard pressure angles
are 14.5° and 20°.
 Gear Terminology

Pressure angle
 Gear Terminology
➢ Addendum: It is the radial distance of a tooth from the
pitch circle to the top of the tooth.
➢ Dedendum: It is the radial distance of a tooth from the
pitch circle to the bottom of the tooth.
➢ Addendum circle: It is the circle drawn through the top
of the teeth and is concentric with the pitch circle.
➢ Dedendum circle: It is the circle drawn through the
bottom of the teeth. It is also called root circle.
✓ Root circle diameter = Pitch circle diameter × cos φ,
where φ is the pressure angle.
➢ Circular pitch: It is the distance measured on the
circumference of the pitch circle from a point of one
tooth to the corresponding point on the next tooth. It is
usually denoted by pc . Mathematically, Circular pitch,
pc = πD/T where, D = Diameter of the pitch circle, and
T = Number of teeth on the wheel. A little consideration
will show that the two gears will mesh together
correctly, if the two wheels have the same circular
pitch.
 Gear Terminology
✓ If D1 and D2 are the diameters of the two meshing
gears having the teeth T1 and T2 respectively, then for
them to mesh correctly,

➢ Diametral pitch: It is the ratio of number of teeth to the

pitch circle diameter in millimetres. It is denoted by pd .
Mathematically,

➢ Module: It is the ratio of the pitch circle diameter in

millimeters to the number of teeth. It is usually denoted
by m. Mathematically,
Module, m = D /T
 Gear Terminology
➢ Clearance: The clearance is the amount by which the
dedendum in a given gear exceeds the addendum of its
mating gear. A circle passing through the top of the
meshing gear is known as clearance circle.
➢ Total depth: It is the radial distance between the
addendum and the dedendum circles of a gear. It is
equal to the sum of the addendum and dedendum.
➢ Working depth: It is the radial distance from the
addendum circle to the clearance circle. It is equal to
the sum of the addendum of the two meshing gears.
➢ Tooth thickness: It is the width of the tooth measured
along the pitch circle.
➢ Tooth space: It is the width of space between the two
adjacent teeth measured along the pitch circle.
➢ Backlash: It is the difference between the tooth space
and the tooth thickness, as measured along the pitch
circle. Theoretically, the backlash should be zero, but in
actual practice some backlash must be allowed to
prevent jamming of the teeth due to tooth errors and
thermal expansion.
 Gear Terminology
➢ Face of tooth: It is the surface of the gear tooth above
the pitch surface.
➢ Flank of tooth: It is the surface of the gear tooth below
the pitch surface.
➢ Top land: It is the surface of the top of the tooth.
➢ Face width: It is the width of the gear tooth measured
parallel to its axis.
➢ Profile: It is the curve formed by the face and flank of
the tooth.
➢ Fillet radius: It is the radius that connects the root
circle to the profile of the tooth.
➢ Path of contact: It is the path traced by the point of
contact of two teeth from the beginning to the end of
engagement.
Gear Terminology
Gear Meshing
 Law of Gearing
(Condition for Constant Velocity Ratio of Toothed Wheels)
➢ Consider the portions of the two teeth, one on the wheel 1 (or pinion) and
the other on the wheel 2, as shown by thick line curves in Fig. Let the two
teeth come in contact at point Q, and the wheels rotate in the directions as
shown in the figure. Let TT be the common tangent and MN be the common
normal to the curves at the point of contact Q. From the centres O1 and O2 ,
draw O1M and O2N perpendicular to MN. A little consideration will show that
the point Q moves in the direction QC, when considered as a point on
wheel 1, and in the direction QD when considered as a point on wheel 2.
➢ Let v1 and v2 be the velocities of the point Q on the wheels 1 and 2
respectively. If the teeth are to remain in contact, then the components of
these velocities along the common normal MN must be equal.

So,
 Law of Gearing
(Condition for Constant Velocity Ratio of Toothed Wheels)
Also from similar triangles O1MP and O2NP,

Combining equations (i) and (ii), we have

➢ From above, we see that the angular velocity ratio is inversely proportional to the ratio of the distances of the
point P from the centres O1 and O2, or the common normal to the two surfaces at the point of contact Q,
intersects the line of centres at point P which divides the centre distance inversely as the ratio of angular
velocities.
➢ Therefore, in order to have a constant angular velocity ratio for all positions of the wheels, the point P
must be the fixed point (called pitch point) for the two wheels. In other words, the common normal at the
point of contact between a pair of teeth must always pass through the pitch point. This is the
fundamental condition which must be satisfied while designing the profiles for the teeth of gear wheels.
It is also known as law of gearing.
 Law of Gearing
(Condition for Constant Velocity Ratio of Toothed Wheels)
✓ The fundamental condition for designing the profiles for the teeth of gear condition, is fulfilled by teeth of involute
form, provided that the root circles from which the profiles are generated are tangential to the common normal.
✓ If the shape of one tooth profile is arbitrarily chosen and another tooth is designed to satisfy the above
condition, then the second tooth is said to be conjugate to the first. The conjugate teeth are not in
common use because of difficulty in manufacture, and cost of production.
✓ If D1 and D2 are pitch circle diameters of wheels 1 and 2 having teeth T1 and T2 respectively, then velocity
ratio,
 Velocity of Sliding of Teeth
The sliding between a pair of teeth in contact at Q occurs along the common tangent TT to the tooth curves. The
velocity of sliding is the velocity of one tooth relative to its mating tooth along the common tangent at the point of
contact.
From similar triangles QEC and O1MQ,

Similarly, the velocity of point Q, considered as a point on wheel 2, along the common tangent TT is represented by
ED. From similar triangles QCD and O2NQ,

Let,

From equation (ii), that the velocity of sliding is proportional to the distance of the point of contact from the
pitch point.
 Forms of Teeth
➢ In actual practice following are the two types of teeth commonly used :
✓ Cycloidal Teeth: A cycloid is the curve traced by a point on the circumference of a circle which rolls without
slipping on a fixed straight line. When a circle rolls without slipping on the outside of a fixed circle, the curve
traced by a point on the circumference of a circle is known as epi-cycloid. On the other hand, if a circle rolls
without slipping on the inside of a fixed circle, then the curve traced by a point on the circumference of a circle is
called hypo-cycloid.
 Forms of Teeth
✓ Involute Teeth: An involute of a circle is a plane curve generated by a point on a tangent, which rolls on the
circle without slipping or by a point on a taut string which in unwrapped from a reel as shown in Fig. In
connection with toothed wheels, the circle is known as base circle. Normal at any point of an involute is a
tangent to the circle.
 Gear Classification
❑ According to the position of axes of the shafts: The axes of the two shafts between which the motion is to be
transmitted, may be (a) Parallel, (b) Intersecting, and (c) Non-intersecting and non-parallel.

➢ The two parallel and co-planar shafts connected by the gears is shown in Fig. 12.1. These gears are called spur
gears and the arrangement is known as spur gearing. These gears have teeth parallel to the axis of the wheel
as shown in Fig. 12.1.
 Gear Classification
➢ Another name given to the spur gearing is helical gearing, in which the teeth are inclined to the axis. The single
and double helical gears connecting parallel shafts are shown in Fig.(a) and (b) respectively. The double helical
gears are known as herringbone gears. A pair of spur gears are kinematically equivalent to a pair of cylindrical
discs, keyed to parallel shafts and having a line contact.

(a) (b)
 Gear Classification
➢ The two non-parallel or intersecting, but coplanar shafts
connected by gears is shown in Fig. These gears are
called bevel gears and the arrangement is known as
bevel gearing. The bevel gears, like spur gears, may
also have their teeth inclined to the face of the bevel, in
which case they are known as helical bevel gears.

Bevel gear

➢ The two non-intersecting and non-parallel i.e. non-

coplanar shaft connected by gears is shown in Fig.
12.2 (d). These gears are called skew bevel gears or
spiral gears and the arrangement is known as skew
bevel gearing or spiral gearing. This type of gearing
also have a line contact, the rotation of which about the
axes generates the two pitch surfaces known as
hyperboloids. The worm gearing is essentially a form
of spiral gearing in which the shafts are usually at right
angles.
Worm gear
 Gear Classification
❑ According to the peripheral velocity of the gears: The gears, according to the peripheral velocity of the gears
may be classified as : (a) Low velocity, (b) Medium velocity, and (c) High velocity. The gears having velocity less
than 3 m/s are termed as low velocity gears and gears having velocity between 3 and 15 m/s are known as
medium velocity gears. If the velocity of gears is more than 15 m/s, then these are called high speed gears.
❑ According to the type of gearing: The gears, according to the type of gearing may be classified as: (a)
External gearing, (b) Internal gearing, and (c) Rack and pinion.
➢ In external gearing, the gears of the two shafts mesh externally with each other as shown in Fig.(a). The larger
of these two wheels is called spur wheel and the smaller wheel is called pinion. In an external gearing, the
motion of the two wheels is always unlike.
➢ In internal gearing, the gears of the two shafts mesh internally with each other as shown in Fig.(b). The larger of
these two wheels is called annular wheel and the smaller wheel is called pinion. In an internal gearing, the
motion of the two wheels is always like.
 Gear Classification
➢ Sometimes, the gear of a shaft meshes externally and internally with the gears in a straight line, as shown in Fig.
Such type of gear is called rack and pinion. The straight line gear is called rack and the circular wheel is called
pinion. A little consideration will show that with the help of a rack and pinion, we can convert linear motion into
rotary motion and vice-versa.
 Gear Classification
❑ According to position of teeth on the gear surface: The teeth on the gear surface may be (a) straight, (b)
inclined, and (c) curved. Spur gears have straight teeth where as helical gears have their teeth inclined to the
wheel rim. In case of spiral gears, the teeth are curved over the rim surface.
 Pros & Cons of Gear Drive
➢ Advantages:
✓ As no slip takes place during chain drive, hence perfect velocity ratio is obtained. It transmits exact velocity ratio.
✓ It may be used to transmit large power.
✓ It gives a high transmission efficiency (upto 98 percent).
✓ It has reliable service.
✓ It has compact layout. Since the chains are made of metal, therefore they occupy less space in width than a belt
or rope drive.
✓ It has the ability to transmit motion to several shafts by one chain only.
✓ It gives less load on the shafts. It permits high speed ratio of 8 to 10 in one step.
✓ It can be operated under adverse temperature and atmospheric conditions.
✓ It may be used for both long as well as short distances.

➢ Disadvantages:
✓ The manufacture of gears require special tools and equipment.
✓ The error in cutting teeth may cause vibrations and noise during operation.
✓ It requires suitable lubricant and reliable method of applying it, for the proper operation of gear drives.
 Gear Materials
❑ The material used for the manufacture of gears depends upon the strength and service conditions like wear,
noise etc. The gears may be manufactured from metallic or non-metallic materials.

✓ The metallic gears with cut teeth are commercially obtainable in cast iron, steel and bronze.
✓ The nonmetallic materials like wood, raw hide, compressed paper and synthetic resins like nylon are used for
gears, especially for reducing noise.
✓ The cast iron is widely used for the manufacture of gears due to its good wearing properties, excellent
machinability and ease of producing complicated shapes by casting method. The cast iron gears with cut teeth
may be employed, where smooth action is not important.
✓ The steel is used for high strength gears and steel may be plain carbon steel or alloy steel. The steel gears are
usually heat treated in order to combine properly the toughness and tooth hardness.
✓ The phosphor bronze is widely used for worm gears in order to reduce wear of the worms which will be
excessive with cast iron or steel.
Thank You