Sri Lanka Institute of Information Technology Faculty of Engineering

SRI LANKA INSTITUTE OF
INFORMATION TECHNOLOGY
Faculty of Engineering
MECHANICS OF MACHINES (ME202)
HOOK'S COUPLING
B.Sc. Mechanical and Mechatronic Engineering
Practical Date:
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Instructor's Name:
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Title
Hookes coupling
Objective
To investigate the variation in displacement for a single joint at various angles.
To show that when two joints are used together with the same intermediate angle , that the
variation in displacement is cancelled out.
Introduction
A flexible coupling or universal joint is frequently used to link two shafts and transmit circular
motion from one to the other. Indeed continuous circular motion is perhaps the single largest
thing that mankind produces in the world with the available energy. A universal joint is simple a
combination of machine elements which transmit rotation from one axis to another. A universal
joint can accommodate large angles between the shafts. An arbitrary and accepted lower limit is
30. In general if the angularity between two shafts is less than 30 a flexible coupling is used. A
universal joint is used where the angularity between shafts is international. Kinematically
universal joints may be divided into two types:-
- Hooke's or Cardan Coupling
- Constant Velocity Joint
These names, although frequently used, do not clarify the difference between them. A Hooke's
coupling is a fixed arm coupling and a constant velocity joint is a variable arm coupling. We are
concerned here with the fixed arm coupling only.
Theory
Kinematic Analysis
The following analysis will show that as the angle between the shafts increases there is a periodic
speed and hence torque uctuation. Such uctuation cannot be tolerated in machinery so it is usual
to have two couplings with a small intermediate shaft.
The second coupling introduces equal opposite uctuations. Thus the overall e ect is one of
smooth and uniform transmission. However both the input and output shaft must make the same
angle with the intermediate shaft for this to work.
A Hooke's Coupling consists of a cruciform spider which pivots in two fork ends formed in the
ends of the shafts. For practical manufacturing reasons the fork ends are made as separate pieces
to which the shafts are attached. Thus standard couplings can be simply xed to any length of
shaft.
= Load (input or drive shaft angle =

output or driven shaft angle
= the angle between two axles with respect to each other, when
angle is zero the two shafts are parallel
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ME202: Mechanics of Machines I - 2016
Case I: shafts are parallel =0

First consider the two shafts are parallel, = 0 and refer Figure 1.
Figure 1: Hooke's Joint rotation planes =0

When the two shafts are parallel the axis OX1 and OY1 will be on the same plane. We can de ne
unit vectors reference to XY plane;
2 3
cos
^
X1 = 4 sin 5 0
2 3
sin
^ cos
Y
1 =4 0 5
Case II: shafts are non-parallel 6= 0
Figure 2: Hooke's Joint rotation planes 6= 0
3
Now we can again write the unit vectors as;

2 3
cos
^
X1 = 4 sin 5 (1) 0
2 3
sin cos
^
Y cos
^ ^ 1=4 sin sin 5 (2)
The axis X1 and Y1 are xed on to the gimbal and they are perpendicular to each other.
Therefore the dot multiplication of the two vectors should be zero. Thus,
X^1 Y^1 = X^1 =2 sin 3 2 cos 3 =0
cos sin cos
4 54 5
0 sin sin cos
sin cos + sin cos = 0
This will provide the following input output angle equation.
tan = tan cos (3)
= tan 1 cos (4)

tan
The above equation does not provide a unique solution to the output angle . Thus it requires to
use ATAN2 function.
= Atan2(sin ; cos cos ) (5)
To obtain the velocities consider let the input velocity be !.
d
_
= =! (6)
dt
The output velocity can be obtained using the chain rule,
_ d d d
= dt =d dt
Thus we can simplify to obtain the following.
d cos
= ! (7)
2 2
dt
1 sin cos
Thus we can draw the velocity variation while assuming constant velocity for the input shaft
(constant !).
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The Apparatus
The apparatus is illustrated below and it consists of a pair of Hooke's joints with input, output
and intermediate shafts manufactured as a single unit. The input and the output shafts run in
brackets which can be pivoted on the baseboard. Scales tted to the baseboard measure the angle
between the input and output shafts and the intermediate shafts. In addition the circular scales
enable the input and output rotations to be measured.
Figure 3: Laboratory set-up
Procedure
Figure 4: Test con guration
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Experiment 1
Set the left hand bracket over so that the angle 1 between the shafts is 45 . Set the other
joint to be straight, that is 2 = 0 .
Start with the scale on the input shaft at zero. Rotate the shaft by 10 exactly. Note the
readings on the scale on the input and output shafts. Repeat for 360 , i.e. one rotation.
Tabulate your results as shown below:-
Shaft angle = 0
Input angle 0 10 20 30 40 50 360
Output angle
Experiment 2
Set angles 1 and 2 equal to 30 , both bent to the same side as in the drawing on the previous
one. Then for one revolution take readings every 10 of the scale on the input and output
shafts. Tabulate your results as below:-
Shaft angle 1 = 2 = 30
Input angle 0 10 20 30 40 50 360
Output angle
Results and Discussion

Plot tan against tan and verify equation (3) (Slope is 1= cos )
Plot against for a half revolution and verify results with theoretical curve from equation (5)
.
Obtain slopes for each point and verify the velocity equation.
Substitute and in equation (7) and verify the velocity equation. Verify
the equal angle conditions (i.e. = )
The data obtained in experiment one shows that for a single Hooke?s Coupling there is a
displacement and velocity variation between the input and output shafts. How
do these quantities vary as the angle between the input and output shafts of one coupling
increase from 0 ?
Does your graph of tan against tan show the validity of the analysis which lead to equation
(3)?
What are the advantages or disadvantages of having a Hooke's joint in a mechanism.

Explain some practical examples of having a Hooke's joint.
6

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SRI LANKA INSTITUTE OF

MECHANICS OF MACHINES (ME202)

B.Sc. Mechanical and Mechatronic Engineering

- Hooke's or Cardan Coupling

- Constant Velocity Joint

= Load (input or drive shaft angle =

Case I: shafts are parallel =0

Figure 1: Hooke's Joint rotation planes =0

Figure 2: Hooke's Joint rotation planes 6= 0

Now we can again write the unit vectors as;

tan = tan cos (3)

= tan 1 cos (4)

= Atan2(sin ; cos cos ) (5)

To obtain the velocities consider let the input velocity be !.

Figure 3: Laboratory set-up

Figure 4: Test con guration

Input angle 0 10 20 30 40 50 360

Results and Discussion

What are the advantages or disadvantages of having a Hooke's joint in a mechanism.

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