See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/273755713

Planetary Helical Gear System

Conference Paper · February 2014

CITATIONS READS
4 9,950

3 authors, including:

Nitinkumar Anekar Shrikant Nimbalkar

MAEER`s MIT World Peace University Dr. Vishwanath Karad MIT World Peace University, Pune.
22 PUBLICATIONS 86 CITATIONS 4 PUBLICATIONS 13 CITATIONS

SEE PROFILE SEE PROFILE

All content following this page was uploaded by Nitinkumar Anekar on 14 May 2021.

The user has requested enhancement of the downloaded file.

 International Conference on Science and Technology (ICST-2K14), Pune, India
2014, Volume1, Issue1

Planetary Helical Gear System

Nitinkumar Anekar1, Suraj Deshmukh2, Shrikant Nimbalkar3
1,2,3
Mechanical Department, MIT College of Engg. Pune, Pune University
1
nitin.anekar@gmail.com
2
deshmukhsuraj79@yahoo.in
3
shrikant.nimbalkar@mitcoe.edu.in
1,2,3 Dept. of Mechanical Engineering, MIT College of Engineering, Pune

Abstract— Planetary gear systems are widely used in various The working principle of planetary gears has been
fields to their advantages of compactness, high power-to-weight known for many years, there is still a great interest towards
ratios, high efficiency, and so on. Helical (non-zero helix angle) this particular device. Planetary gear drives are constituted by
planetary gear system is mostly used at low noise place and three main elements: (i) a sun gear, (ii) a carrier that hosts
quieter applications like medical equipment, wind power plant planet gears, and (iii) a ring gear. Either the sun or ring gears
compared to spur (zero helix angle) planetary system. The design may be fixed, the other performs rotation about its axis (fig.
of helical planetary gears system carried out by the consideration 1). The planet gears perform rotation with the carrier and
of influences of the whole drive train and the analysis of all
about the carrier (fig. 1).
relevant machine elements. The standardized calculations are
decisive for the safe dimensioning of the machine elements with
the consideration of realistic load assumptions. This system easily
achieve high transmission ratio due to its size. This paper gives
overview of design, advantages, disadvantages and applications
of helical planetary gear system compared with spur planetary
gear system. Here a recent development in helical planetary
system is given based on regulating backlash between the gears
and modifying the tooth surface. These are used in some
examples like double helical planetary gear system and wind
power plant.
Keywords— Helical gear, beam strength, wear strength, low noise,
double helical gear, wind power plant.

I. INTRODUCTION Fig 1 Planetary gear system

Planetary gear trains, also referred to as epicyclic gear trains, There are three main configurations for application of a
are those in which there is one or more gears orbit about the planetary gear. The gear train may have [3]:
central axis of the train. Thus, they differ from an ordinary i. One input, one output, and one fixed element. The
train by having a moving axis or axes. Let us compare a input shaft may be a sun or the carrier, the output is
planetary gear train with a conventional one, with fixed gear the remaining element. In this case the mechanism is
axes, designed for the same gear ratio of angular velocities of a speed reducer (or multiplier)
the input and output mechanism links. The comparison shows ii. One input, two outputs, and no fixed element. The
the following points [2]: The planetary gear train has smaller input shaft may be the carrier; the outputs are the sun
dimensions than the conventional one. In a conventional and ring gears. In this case the mechanism is a
design a set of gear drives is required, not a single train for the differential. The output torque is divided among the
required speed reduction. However, the planetary gear train two output shafts
has usually a much lower efficiency in comparison with the iii. Two inputs, one output, and no fixed element. This
conventional gear train. Planetary gear train has greater mechanism is a speed combiner, since the output
durability, easy to achieve high transmission ratio due to the speed is a linear combination of the speed of the two
size compared to conventional gearboxes. Planetary gear input shafts.
trains have smaller and stiffer components which lead to Here we discussed about first case. In that the working of
reduced noise and vibration during working. The reduced size helical sun and planet gear system is as given below:
of epicyclic components often offsets the cost of additional  When sun gear acts as a driver and planets are driven,
parts, especially when manufacturing many gear trains. The first sun gear rotates and then planet gears automatically
production cost of planetary gear trains is more compared to rotate as they are meshed with sun gear. As annular gear
conventional gearbox. is the internal gear which is meshed with planet gears
and planet is rotating so annular gear also starts rotating.

1
 International Conference on Science and Technology (ICST-2K14), Pune, India
2014, Volume1, Issue1
 When sun acts as driven and planets act as driver, first motion” is transferred from the planets via the planet carrier to
planet gears rotates and then sun gear automatically the actual output – shaft, disc or flange. The forces are
rotate as they are meshed with planet gears. As annular transferred from the planets to the carrier pin through the
gear is the internal gear which is meshed with planet planet bearings. We consider role of realistic load assumption,
gears and planet is rotating so annular gear also starts drive train and analysis of relevant machine component in
rotating. design of helical planetary gears system. The design
Planetary spur gear system have all gears having the type procedure of helical planetary gear system based on some
spur while planetary helical gear system have all gears having assumptions which are given as below:
the type helical. Machine designers that work in many
different fields are attracted by planetary gear mechanisms A. Assumptions
because they successfully solve specific problems. Thus these 1) In this design we assume sun (B) is the driver gear i.e.
are used in many commercial and military applications like pinion and planets (C) are driven gears i.e. gear. Ring gear (D)
helicopters, automobiles, wind turbines, agricultural is stationary. Similarly we go for different type of conditions
equipment, and more. depending upon applications of planetary gear system.
T. Schulze [1] gives calculation of Load Distribution
in planetary gears for an effective gear design process. It 2) The speed of sun gear is greater than speed of planet
carried out by the consideration of influences of the whole gears.
drive train and the analysis of all relevant machine elements. B. Design Procedure
John Argyris [2] gives analysis and design steps of gears
The steps in design procedure are given below [8]:
useful for design of helical planetary system. Litvin [3] gives
recent development in gear design to maintain uniform 1) The load on sun and planet gears is given. Also speed of
distribution of load by using backlash between rotation of sun and planet is given. Then first design single
gears.Christopher A. Corey [4] has presented a technique for pinion and gear. Find its module and the centre distance
finding total speed and force solution to an epicyclic gear between them.
train. Berthold Schlecht [5] gives calculation of planetary
gears considering influences of the whole drive train and the 2) The procedure to design helical gears is as given below:
analysis of all relevant machine elements. Gerhard G. Antony The power transmitted to sun gear, load is given. Speed of sun
[6] gives difference between helical and non-helical (spur) gear (NB) and planet gear (NC) given. Select proper material to
planetary gear system considering load analysis, various sun and planet gear (Sut, fs). If both gears are made of same
design aspect and its applications. material, pinion is weaker than gear. Take minimum no. of
teeth on sun gear ZB (e.g. ZB=18, if αn =200).
Step-1: Static Loading
II. DESIGN Estimate module based on beam strength. Assume distance
We know, helix angle is the angle between the helix of the between two gears
tooth flank in reference centerline (axis of rotation) of the gear d  dC
a B (1)
This is present in helical gear. Planetary gears in the last 2
decades getting used increasingly in a number of applications d N
belong to moving axis systems. Unfortunately, the axial forces Gear ratio, i  C  C (2)
dB NB
from the helical gears in planetary systems have more serious
consequences. For simplicity only the tangential and axial From (1) and (2), we get dB and dC.
component of the gear-mesh forces are shown in fig.2. [6]: Here, face width, b  10 m and bending stress  b = Sut f s .
Power
Torque, M t  (3)
2 N B
2M t
Tangential load, Pt  (4)
dB
Effective load between 2 meshing teeth during static loading
C 
Peff   s  Pt (5)
 CV 
5.6
Where Cv  and v   d B N B
Fig 2 Gear mesh forces on a helix angle planat gear
The torque from the input sun-gear is split into multiple gear  5.6  v 
meshes depending upon the number of planat gears used. The Beam strength of gear in module is given as
planets are rolling up “on” the sun-gear, and at the same time Sb  mb bY (6)
on the ring-gear. The resulting “boosted torque rotational Here Y is Lewis form factor taken from reference chart [9]

2
 International Conference on Science and Technology (ICST-2K14), Pune, India
2014, Volume1, Issue1
to Fig 1 to find number of teeth on ring gear (ZD) and its
Step-2 Dynamic Loading diameter (dD), use TABLE I [7].
Use Buckingham’s equations to calculate dynamic load. It is If assume ring gear stationery, then
given as y  x  Z B Z D   0 gives no. of teeth on ring gear (D). This is the
21v  Ceb cos 2   Pt  cos complete design procedure to find no. of teeth in helical
Pd  (7)
21v   Ceb cos 2   Pt  planetary gear system.
TABLE I
Where   mn  0.25 d B (for pinion (sun) which gives eB), TABLE OF MOTIONS
  mn  0.25 dC (for gear (planet)) which gives eC) Condition Revolution of Elements
of Motion Spider Sun Planet Ring Gear
and e  eB  eC (A) Gear (B) Gear (C) (D)
Take value of determination factor ‘C’ from table[9] A fixed, B 0 +1   Z B ZC    ZB ZD 
Effective load between two meshing teeth during dynamic rotates with
loading is +1
Peff   Cs Pt  Pd  (8) revolution
Wear strength of gear is given as, A fixed, B 0 +x  x  Z B ZC  x  ZB ZD 
bQd B K rotates with
Sw  (9) +x
cos 2  revolution
2Z C
Where Q  and K depends on hardness of material. Add +y +y +y +y +y
Z B  ZC revolutions
to all
Step-3 Design Safety element
To check design is safe or not find actual factor of
S S Total +y x+y y  x  Z B ZC y  x  Z B Z D 
safety f s ( actual )  b and f s( actual )  w (10) motion=
Peff Peff 2+3
If f s (actual )  f s(taken ) , then design is safe, then take module
calculated. If f s( actual )  f s (taken) , then take new module and III. ADVANTAGES, DISADVANTAGES AND APPLICATIONS
redesign system or change material. The advantages, disadvantages and applications of helical
(Non-zero helix angle) planetary system over spur (Zero helix
Step-4 Dimensions of Gears angle) planetary system are given as below:
The dimensions of gear are given as below: A. Advantages
 No. of teeth on Sun (Pinion) = ZB  A helical pinion of the new geometry is the ability to
 No. of teeth on Planet (Gear) = ZC obtain a longitudinal bearing contact and increase the
mn contact ratio.
 Transverse module = m   Helical planetary gear is smoother, less noisy run,
cos
and less vibration due to the smoother entry of the
 Normal module = mn
teeth into the gear-mesh and more even mesh
 Face width= b = 10mn stiffness compared to sun planetary gear.
mn Z B B. Disadvantages
 Pitch circle diameter of pinion = d B 
cos Needle roller bearings are used for high radial loads
mn Z C evenly distributed along the length of the needle. Axial
 Pitch circle diameter of gear = d C  loads should be avoided. Helical gears create axial forces
cos
in the gear mesh on the two opposite sides of the gear. The
 Addendum = (ha) = mn direction in the axial force in the sun/planet mesh is
 Deddendum = (hf) = 1.25mn opposite of the force in the planet ring gear mesh, hence
 Clearance = (C)= 0.25mn the planet is subjected to a significant tilting-moment in
 Tooth thickness = 1.5708mn the magnitude of: axial force times gear pitch diameter.
 Fillet radius = 0.4mn This creates a strongly “skewed” uneven load distribution
along the needle rollers drastically lowering the needle
3) As we know module of sun and planet gear. This gives
bearing load carrying capability and bearing life. Fig.
us no. of teeth present on sun (ZB) and planet (ZC).then from
shows load distribution on the needle rollers in planetary
diameter of sun and planet, decide how much planets we take
gears. One was carried out using a high level specialized
in system .from that find diameter of ring gear .With reference

3
 International Conference on Science and Technology (ICST-2K14), Pune, India
2014, Volume1, Issue1
program from the bearing manufacturer INA/FAG. The specifically a novel magnetic planetary gear (MPG) which is
red line in the graph represents the load distribution along composed of one magnetic sun gear, one magnetic ring gear,
the needle roller using a zero-helix angle gear the green and three magnetic planet gears. Here the contact-free gear
line is for a 15 degree helix angle gear. structure results in lower stiffness, proper design methods are
needed to improve gear properties. Recent investigations are
based on noise and vibrations of planetary gear. The recent
development and its applications are as given below:

A. Double Helical Gears

Here, new types of developments in planetary drives are
proposed. The new designs are based on regulating backlash
between the gears and modifying the tooth to achieve uniform
distribution of load between the planet gears. In new design
concept, helical gears (of a small helix angle) will be used
instead of spur gears and the tooth surfaces will be modified
in comparison with conventional ones (fig.2). The new design
will permit the regulation of backlash for achievement of
Fig 3 Load distribution in planetary Gear System [6] uniform load distribution and reduction of transmission errors
The practical implication of this uneven load distribution caused by misalignment. In fig. 4 a one-stage planetary gear
is that the load ability and life of the helical planetary train with double-helical gears is shown. Such a gear drive is
gearbox is reduced drastically in comparison to same size an example of a complicated multi-body system, for which it
zero helix angle solution. The remaining draw backs are is difficult to obtain a uniform load distribution between the
given as below: planet gears. An approach for simple regulation of the
 Helical planetary gears have lower torque carrying backlash between the planet gears will be developed [3].
capability and shorter life than a same size zero-helix
angle planetary [6].
 To satisfy a certain torque requirement and life a
larger unit is required than in case of zero helix angle
planetary.
C. Application
 As less noise concern helical planetary system used
in some medical equipment, diagnostic machines,
printing machines, the helical planter.
 The other applications of include Tandem bike,
revolving bookstand, walking robots etc.
 The specific applications of helical planetary system
include power plant like wind power plant. Here in
various turbines helical sun and planet gear system is
widely used.

IV. RECENT DEVELOPMENTS Fig 4 One-stage planetary gear train with double-helical gears
The recent development in planetary system is based on
light weight design and regulating backlash between the gears B. Wind Power Plant
and modifying the tooth surface to improve design. The goal
of this design is uniform distribution of load between the The helical planetary system used in wind mill is as shown in
planet gears. So, it is used for power wrenches and power Fig.5. It consists of main gearbox having three gear stages
coupling in tandem bicycling. The calculation of planetary (helical gearing). The detailed parameters of the 1st planetary
gears can just be carried out by the consideration of influences gear stage are listed in TABLE II. Additional parameters (e.g.
of the whole drive train and the analysis of all relevant the bearing characteristic, carrier pin tolerances) are not
machine elements. The standardization calculations are for the shown, but they had to consider for realistic determination of
safe dimensioning of the machine elements with load distribution [2].
considerations of realistic load. But they need to be completed The load, pressure, root stress distribution and width
by extended analysis of load distribution, flank pressure, root load factor of planetary gear system are given in Fig.6.This is
stress, transmission error and contact temperature. In recent actually bad load distribution on flank. Then good load
development, magnetic planetary gear system are developed, distribution of planetary system is given as in Fig.7. The

4
 International Conference on Science and Technology (ICST-2K14), Pune, India
2014, Volume1, Issue1
helical planetary system used in wind power plant good load
distribution (ratio of maximum and mean value of line load is
1.66) is given in Fig.8.

Fig 5 Planetary helical gear system in wind power plant

TABLE II
DIMENSIONS OF HELICAL GEARS IN PLANETARY SYSTEM

Nomenclature Symbol Values

module m 16
No. of teeth ZD/B/C 20/36/-91
Centre distance a 463
Pressure angle αn 205
Helix angle Ψ 85
Face width sun b 310
Addendum sun hb 0.4
Addendum planet hc 0.3156
Addendum ring gear hd -1.6429 Fig 7 Good load distribution on flank[1]

Fig 8 Good load distribution on flank in Helical planetary system[1]

Fig 6. Bad load distribution on flank[1]

5
 International Conference on Science and Technology (ICST-2K14), Pune, India
2014, Volume1, Issue1
V. CONCLUSION
In concluding the goal and scope of this presentation, we
found that optimization is very much improved with help of
helical planetary system. The system is more efficient for
heavy load and rpm purpose. It have some drawbacks like its
design and manufacturing is difficult because of compact
structure. It has many applications in non-conventional energy
systems like wind power plant and automobile structures. In
some noise critical applications such as medical equipments,
diagnostic machines, printing machines the helical planetary
system might be the better choice, but remember you will
have to select a larger unit for a given torque / desired life. If
noise is not a primary application concern, you are far better
off with a zero helix planetary, having a higher load ability,
and longer life in a more compact package.

ACKNOWLEDGEMENT
The authors are grateful for the support by Head of
mechanical engineering department and Principal MIT
College of Engineering, Pune.

NOMENCLATURE
NA Speed of carrier (rpm)
NB Speed of sun gear (rpm)
NC Speed of planet gear (rpm)
ND Speed of ring gear (rpm)
ZB No. of teeth on sun gear
ZC No. of teeth on planet gear
ZD No. of teeth on ring gear
m Transverse module
mn Normal module
αn Pressure angle
ψ Helix angle
Sut Ultimate strength of material (N/mm2)
fs Factor of safety

REFERENCES
[1] T. Schulze, C. Hartmann-Gerlach, and B. Schlecht, Calculation of
Load Distribution in Planetary Gears for an Effective Gear Design
Process, AGMA, Oct.2010.
[2] John Argyris, Alfonso Fuentes, Faydor L. Litvin, Computerized
Integrated Approach for Design and Stress Analysis of Spiral Bevel
Gears, Comput. Methods, Appl. Mech. Engrg. 191 (2002), pp. 1057–
1095.
[3] J. L. Litvin, Alfonso Fuentes, Daniele Vecchiato, and Ignacio
Gonzalez-Perez, New Design and Improvement of Planetary Gear
Trains, NASA/CR—2004-213101, July 2004
[4] Charles F. Reinholtz, Alfred L. Wicks, Robert L. West, Jr. Christopher
A. Corey, Epicyclic Gear Train Solution Techniques with Application
to Tandem Bicycling, Dec.2003.
[5] Berthold Schlecht, Tobias Schulze, Design and optimization of
planetary gears under consideration of all relevant influences, Drive
Concepts GmbH, Dresden.
[6] Gerhard G. Antony, Neugart, Helical or not helical? How helical
gears impact the performance of planetary systems?, NEUGART.
[7] S. S. Ratan, Theory of Machines, Tata McGraw Hills Education Private
Limited, Third Edition
[8] V. B. Bhandari, Design of Machine Elements, Tata McGraw hills,
Second Edition
[9] PSG design data book, Coimbatore.

View publication stats