Experiment Instructions: KI 150 Hooke's Coupling Apparatus

Experiment Instructions
KI 150
Hookes Coupling
Apparatus
Hookes Coupling Apparatus
All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany
10/97
KI 150
Publication-No.:
914.000 00 B 150 12
07/2011
KI 150
Table of Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Unit description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Theoretical principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
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3.1
Gimbal error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.2
Angular velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.3
Movement compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.1
Performance of experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.2
Theoretical values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.3
Values obtained by experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5.1
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5.2
Symbols and units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
KI 150
Introduction
The KI 150 demonstrates the irregularity exhibited
by an output shaft when it is connected to the drive
end by way of a universal joint.
Relatively simple experiments can be performed
to establish the difference in angle of rotation of the
shafts as a function of various deflection angles. It
is also possible to illustrate the advantage of using
two universal joints.
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The KI 150 is suitable both for practical laboratory

work by trainees and for the performance of demonstrations by the instructor.
1 Introduction
KI 150
Unit description
The KI 150 basically consists of two universal joints
(9) connected to a split intermediate shaft (10).
Turning a handwheel (5, input) drives a shaft stub
(14), which transmits the rotary motion to universal
joints and intermediate shaft (Fig. 2.1).
10/97
The output end is represented by a dial (13), which

is attached to a further shaft stub (15). The arrangement is supported by rolling-contact bearings in
two stands (4, 8).
The stands are mounted on two plates (2) which

can be turned by slackening off grip screws (3).
The angles of rotation of the plates (deflection
angle) can be read off scales on the base plate (1).
The initial angle of rotation can be read off a scale
(6) on the drive-end shaft stub. A pointer (7) is
attached to the stand for this purpose. The difference in angle of rotation can be determined by
comparing the scale values for input and output.
The scales can be set to zero by slackening off the
knurled nuts (11, 12).
Loosening the knurled screw makes it possible to
turn the right shaft half and thus to move the forks
of the intermediate shaft out of one plane.
2 Unit description
KI 150
13
15
14
7 6
11
10/97
12
1
Fig. 2.1
10
Design of KI 150
2 Unit description
10/97
KI 150
Theoretical principles
3.1
Gimbal error
2,
2
1, 1
If two shafts inclined towards one another at a

deflection angle are connected by means of an
articulated coupling (universal joint), the angle of
rotation of the driven shaft becomes alternately
greater and smaller than that of the drive shaft with
each quarter turn (Fig. 3.1). The difference between the angles of rotation is known as the gimbal
error. The angle of rotation of the driven shaft is as
follows:
tan 2 =
Fig. 3.1
Articulated coupling with deflection angle
tan 1
(3.1)
cos
2: Angle of rotation of driven shaft in degrees

1: Angle of rotation of drive shaft in degrees
: Deflecton angle in degrees
3.2
Angular velocity
If the input shaft is driven uniformly, the angular
velocity of the output shaft will exhibit a sinusoidal
profile. It is calculated as follows:
2 =
cos
1 cos21 sin2
(3.2)
1: Angular velocity of drive shaft in s-1

2: Angular velocity of driven shaft in s -1
1: Angle of rotation of drive shaft in degrees
2: Angle of rotation of driven shaft in degrees
: Deflection angle between input and output
shaft in degrees
3 Theoretical principles
KI 150
3.3
Movement compensation
The usually undesirable sinusoidal output velocity
can be avoided by using two articulated couplings.
If two such couplings are arranged in succession
such that
10/97
Z-arrangement
the deflection angles of the joints in Z and

W-arrangement (Fig. 3.2) are of equal magnitude
the forks of the intermediate shaft are in one

plane (Fig. 3.3) and
all shaft parts are in one plane
W-arrangement
Fig. 3.2
Articulated couplings with intermediate shaft in Z and Warrangement
the gimbal errors are cancelled out. Full movement

compensation is achieved. Only the intermediate
shaft exhibits irregular motion.
Correct
Incorrect
Fig. 3.3
Arrangement of forks
3 Theoretical principles
KI 150
Experiments
The aim of the experiment described below is to
determine the gimbal error when using universal
joints. This involves the setting of various deflection angles.
4.1
Performance of experiment
10/97
The scales on the input and output ends are set to

zero. The deflection angle of the output shaft is
then set to = 30. The input shaft is turned
through the angles 1 listed in Tab. 4.1 and a note
made of the angle 2 indicated on the output end.
This process is repeated for a deflection angle of
= 40.
Use is made of the formula
= 2 1
(4.1)
: Difference angle (gimbal error) in degrees

to calculate the gimbal error.
4.2
Theoretical values
The values calculated for 2 using formula (3.1)
are listed in Tab. 4.1.
The values clearly illustrate the alternate lead and
lag of the output shaft with every quarter turn.
4 Experiments
KI 150
30
30
30
30
30
30
30
30
30
30
30
30
30
40
40
40
40
40
40
40
40
40
40
Tab. 4.1
1 set in
degrees
2
calculated in
degrees
0
0
15
17.2
30
33.7
45
49.1
60
63.4
75
76.9
90
90.0
105
103.1
120
116.6
135
130.9
150
146.3
165
162.8
180
180.0
0
0
15
19.3
30
37.0
45
52.5
60
66.1
75
78.4
90
90.0
105
101.6
120
113.9
135
127.5
Angle of rotation values: Theoretical values
Difference angle in degrees
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set in
degrees
10
= 40
8
6
4
= 30
2
0
-2
-4
-6
-8
-10
0
Fig. 4.1
50
Sinusoidal profile of difference angle
4 Experiments
100
150
Angle of rotation 1 in degrees
200
KI 150
Values obtained by experiment
set in
degrees
30
30
30
30
30
30
30
30
30
30
30
30
30
40
40
40
40
40
40
40
40
40
Tab. 4.2
1 set in
degrees
0
15
30
45
60
75
90
105
120
135
150
165
180
0
15
30
45
60
75
90
105
120
Tab. 4.2 lists the values obtained by experiment.
2 read off
in degrees
0
17.0
33.5
49.0
63.0
76.5
90.0
103.0
116.0
130.5
146.0
163
180
0
19.0
37.0
52.0
66.0
78.0
90.0
101.5
114.0
The values from the experiment provide confirmation of the theoretical values. Deviations
can be attributed to reading inaccuracy.
Angle of rotation values: Values obtained by experiment
8
Difference angle in degrees
10/97
4.3
= 40
6
4
= 30
2
0
-2
-4
-6
-8
-10
0
Fig. 4.2
50
100
Angle of rotation 1 in degrees
150
200
Difference angle values obtained by experiment: Approximately sinusoidal profile
4 Experiments
KI 150
Appendix
5.1
Technical data
Dimensions:
Overall dimensions (w x l x h):
280 mm x 360 mm x 185 mm
Total weight:
approx. 4.5 kg
Symbols and units
10/97
5.2
5 Appendix
Deflection angle
degrees
Angle of rotation of drive shaft
degrees
Angle of rotation of driven shaft
degrees
Difference angle
degrees
Angular velocity of drive shaft
s-1
Angular velocity of driven shaft
s-1

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Experiment Instructions

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

Values obtained by experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Symbols and units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

The KI 150 is suitable both for practical laboratory

Hookes Coupling Apparatus

The output end is represented by a dial (13), which

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

The stands are mounted on two plates (2) which

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

Hookes Coupling Apparatus

If two shafts inclined towards one another at a

Articulated coupling with deflection angle

2: Angle of rotation of driven shaft in degrees

1: Angular velocity of drive shaft in s-1

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

the deflection angles of the joints in Z and

the forks of the intermediate shaft are in one

all shaft parts are in one plane

Articulated couplings with intermediate shaft in Z and Warrangement

the gimbal errors are cancelled out. Full movement

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

The scales on the input and output ends are set to

: Difference angle (gimbal error) in degrees

Difference angle in degrees

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

Hookes Coupling Apparatus

Sinusoidal profile of difference angle

Angle of rotation 1 in degrees

Values obtained by experiment

Tab. 4.2 lists the values obtained by experiment.

Angle of rotation values: Values obtained by experiment

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

Hookes Coupling Apparatus

Angle of rotation 1 in degrees

Difference angle values obtained by experiment: Approximately sinusoidal profile

Hookes Coupling Apparatus

All rights reserved G.U.N.T. Gertebau GmbH, Barsbttel, Germany

Angle of rotation of drive shaft

Angle of rotation of driven shaft

Angular velocity of drive shaft

Angular velocity of driven shaft

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