Kinematic of Machines - Gear 3

Involumetry
The study of the geometry of the involute profile for gear teeth is called involumetry.
Addendum Circle
Pitch Circle
C
B
r
ra E
F
Gear
Base Circle
O
Consider an involute of base circle radius ra and two points B and C on the involute as
shown in figure. Draw normal to the involute from the points B and C. The normal BE and CF
are tangents to the Base circle.
Let
ra = base circle radius of gear
rb = radius of point B on the involute
rc = radius of point C on the involute
and
b = pressure angle for the point B
c = pressure angle for the point C
tb = tooth thickness along the arc at B
tc = tooth thickness along the arc at C
From OBE and OCF

ra = rb  cos b (1)
ra = rc  cos c ( 2)
Therefore, rb  cos b = rc  cos c
From the properties of the Involute:
Arc AE = Length BE and Arc AF = Length CF
ArcAE BE
 AOE = = = tan b
OE OE
 AOB = AOE − b = tan b − b
 Inv.b = tan b − b
Expression ( tan b − b ) is called as involute function
Similarly:
ArcAF CF
 AOF = = = tan c
OF OF
 AOC = AOF − c = tan C − C
 Inv.c = tan c − c
tb t
At the point B, AOD = AOB + = tan b − b + b
2rb 2rb
tc t
At the point C, AOD = AOC + = tan c − c + c
2rc 2rc
Equating the above two equations
tb t
tan b − b + = tan c − c + c
2rb 2rc
tb t
inv. b + = inv.c + c
2rb 2rc
 t 
tc =  inv.b − inv. c + b  2rc
 2rb 
Using this equation and knowing tooth thickness at any point on the tooth, it is possible
to calculate the thickness of the tooth at any point
Backlash:
The gap between the non-drive face of the pinion tooth and the adjacent wheel tooth is known as
backlash.
If the rotational sense of the pinion is reversed, then a period of unrestrained pinion
motion would take place until the backlash gap closed and contact with the wheel tooth re-
established impulsively.
Backlash is the error in motion that occurs when gears change direction. The term "backlash" can
also be used to refer to the size of the gap, not just the phenomenon it causes; thus, one could speak
of a pair of gears as having, for example, "0.1 mm of backlash."
A pair of gears could be designed to have zero backlash, but this would presuppose perfection in
manufacturing, uniform thermal expansion characteristics throughout the system, and no lubricant.
Therefore, gear pairs are designed to have some backlash. It is usually provided by reducing the
tooth thickness of each gear by half the desired gap distance.
In the case of a large gear and a small pinion, however, the backlash is usually taken entirely off the
gear and the pinion is given full sized teeth.
Backlash can also be provided by moving the gears farther apart. For situations, such as
instrumentation and control, where precision is important, backlash can be minimised through one
of several techniques.
r = standard pitch circle radius of pinion

R = standard pitch circle radius of wheel
c = standard centre distance = r +R
r’ = operating pitch circle radius of pinion
R’ = operating pitch circle radius of wheel
c’ = operating centre distance = r’ + R’
Ф = Standard pressure angle
Ф’ = operating pressure angle
h = tooth thickness of pinion on standard pitch circle= p/2
H = tooth thickness of gear on standard pitch circle
h’ = tooth thickness of pinion on operating pitch circle
H’ = tooth thickness of gear on operating pitch circle
p = standard circular pitch = 2п r/ t = 2пR/T
p’ = operating circular pitch = 2п r’/t = 2пR’/T
t = number of teeth on pinion

T = number of teeth on gear.
∆C = change in centre distance
B = Backlash
Involute gears have the invaluable ability of providing conjugate action when the gears' centre
distance is varied either deliberately or involuntarily due to manufacturing and/or mounting errors.
r R c cos  '
= = =
r ' R ' c ' cos 
c ' cos  ' = c  cos 
cos 
c' = c
cos  '
cos   cos  
Now, c = c '− c = c −c = c − 1
cos  '  cos  ' 
On the operating pitch circle:
Operating pitch = sum of the tooth thickness + Backlash
p ' = h '+ H '+ B (1)
By involumetry
 h
h ' = 2r ' inv. − inv. '+ 
 2r 
 h 
H ' = 2 R ' inv. − inv. '+
 2 R 
Substituting h’ and H’ in the equation (1):
c'
 B = p '− 2h + 2c ' ( inv. ' − inv. )
c
2 r ' 2 r c '
= −2 + 2c ' ( inv. '− inv. )
t 2t c
2  c'
=  r '− r  + 2c ' ( inv. '− inv. )
t  c
2  r'
=  r '− r  + 2c ' ( inv. '− inv. )
t  r
Backlash, B = 2c ' ( inv. '− inv. )

There is an infinite number of possible centre distances for a given pair of profile shifted gears, however
we consider only the particular case known as the extended centre distance.

Kinematic of Machines - Gear 3

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Involumetry

ra = base circle radius of gear

rb = radius of point B on the involute

rc = radius of point C on the involute

b = pressure angle for the point B

c = pressure angle for the point C

tb = tooth thickness along the arc at B

tc = tooth thickness along the arc at C

From OBE and OCF

Arc AE = Length BE and Arc AF = Length CF

Expression ( tan b − b ) is called as involute function

Equating the above two equations

r = standard pitch circle radius of pinion

H’ = tooth thickness of gear on operating pitch circle

p = standard circular pitch = 2п r/ t = 2пR/T

p’ = operating circular pitch = 2п r’/t = 2пR’/T

t = number of teeth on pinion

∆C = change in centre distance

Substituting h’ and H’ in the equation (1):

Backlash, B = 2c ' ( inv. '− inv. )

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