Generalized Cycloid Drive Equations

Brian McMillin 12

From the paper "Gear geometry of cycloid drives," by CHEN BingKui, FANG TingTing, LI ChaoYang & WANG ShuYan
http://www.scichina.com:8082/sciEe/fileup/PDF/08ye0598.pdf

Well, the formulas create a full 360 degree epicycloidal, so why mess aroun
Variable
R
_r
b (N)
g
e
Rz/b

= '
t

Sample Epi
Sample Hypo
Sample Hypo
Value
Value
Value
Units
90
80
mm
7
7
mm
12
11
11
12
4
4
mm
7.5
7.272727273
ratio
Rotational angle parameter, (0 max), used to generate profile. ( (0 2)
Used to generate parameter (may be thought of as time of motion for a particle.)

Description:
Radius of ring gear, wh
Radius of one cylindric
Tooth number of the r
Tooth number of the c
Eccentricity of CrankSh
Keep e < (Rz/b) to avo

Generalized equations for the cycloid gear ()

X =
Y =

R*SIN((') - (e)*SIN((b)(')/(b - g)) + (_r)*COS()

R*COS((') - (e)*COS((b)(')/(b - g)) - (_r)*SIN()

where

COS()= +/- (K*SIN((b)(')/(b - g)) - SIN('))/SQRT(1+K*K - (2)*(K)*C

SIN() = +/- ((-K)*COS((b)(')/(b - g)) + COS('))/SQRT(1+K*K - (2)*(K
K = = (e*b)/(R*(b-g))
"curtate coeff
Equation of symmetrical axis:
y = (ks)x = x*cotangent(
Equation 16:
Equation of contacting line:
Contact ratio:

Note 1: For (b - g) (1,2,3), the "Epicycloidal" gear is generated. For (b - g) = (-1) the "Hypocycloidal" outer gear is gene

Note 2: The plus or minus notation: For Epi, INNER profile use plus. For curtate hypocycloidal OUTER profile use M
Note 3: The "Epicycloidal gear-set has a matching external ring gear with cylindrical rollers.
Note 4: The "Hypocycloidal" gear-set has a matching inner ring gear with cylindrical rollers.

Note 5: The Epi and Hypo gears are NOT a gear-set ??, although it may be possible to generate a different Epi gear, from the
Hypo gear, to replace the Hypo's inner ring gear, for a matched gear-set, with Epi inner gear, and Hypo outer gear, using
equations modified from the Nikolov and Dolchinkov papers. (?)
Note: The lobes of the "epi" generated below, likely do not mesh with the internal valley of the "hypo" unless..?
Note: The R of the Hypo, to match diameters, can be calculated by formula R = ((R -r) -r) + 2e. ?
Inner Diameter of Epi =(R -r) -e. ?

Inner Diameter of Hypo = (R + r) -2e. ?

Inner Diameter of Epi, plus e = Inner Diameter of Hypo. ?

dePuzzler Note: "tg" means TANgent. "ctg" means Cotangent. Trig Identity: TAN((/2) - ) = Cotangent() for an arbitr

Let = '

CASE: (b - g) =1 "Epi"cycloidal profile for inner wheel.

X =
R*SIN(() - (e)*SIN((b)*()) + (_r)*COS()
Y =
R*COS(() - (e)*COS((b)*()) - (_r)*SIN()
COS() =

(K*SIN((b)*()) - SIN())/SQRT(1+K*K - (2)*(K)*COS((g)*())

SIN() =

((-K)*COS((b)*()) + COS())/SQRT(1+K*K - (2)*(K)*COS((g)*())

K=K= = 0.53333 =(e*b)/((R)*(b-g)

Variable
R
_r
b
g
e
Rz/b

Sample Epi
Value
90
7
12
11
4
7.5

=t*

X;Y concatenate

0.00

79.00 0;79

0.01

0.031415927

3.53292893

79.58409265 3.53292893315276;79.5840926533631

0.02

0.062831853

6.02433264

80.63601672 6.02433263669055;80.6360167200273

0.03

0.09424778

8.00839027

81.65027228 8.00839026643731;81.6502722773689

0.04

0.125663706

10.02320085

82.59571147 10.0232008474502;82.5957114726157

0.05

0.157079633

12.31319640

83.43135909 12.3131964042415;83.4313590856471

0.06

0.188495559

14.94922937

84.05350571 14.9492293715541;84.0535057144501

0.07

0.219911486

17.89395299

84.34026236 17.8939529875138;84.3402623626725

0.08

0.251327412

21.03704379

84.19197589 21.0370437879147;84.1919758895386

0.09

0.282743339

24.22458785

83.55777068 24.2245878545102;83.5577706767399

0.1

0.314159265

27.28872435

82.44833113 27.2887243498562;82.4483311260234

0.11

0.345575192

30.07678407

80.93537994 30.0767840670057;80.9353799414315

0.12

0.376991118

32.47703936

79.13855052 32.4770393559845;79.1385505151708

0.13

0.408407045

34.43811321

77.20063649 34.4381132062983;77.2006364946683

0.14

0.439822972

35.98063512

75.25156678 35.9806351216725;75.2515667778519

0.15

0.471238898

37.20454177

73.35854418 37.2045417651464;73.358544177719

0.16

0.502654825

38.31186221

71.45637654 38.3118622137986;71.4563765365539

0.17

0.534070751

39.71219035

69.29859582 39.7121903457478;69.2985958222496

0.18

0.565486678

42.13409510

66.85694986 42.134095103624;66.8569498555227

0.19

0.596902604

45.43106385

65.20198037 45.4310638527824;65.2019803715814

0.2

0.628318531

48.22789437

64.62955503 48.2278943672161;64.6295550277115

0.21

0.659734457

50.48756019

64.39841239 50.4875601940533;64.3984123925903

0.22

0.691150384

52.67514929

64.13214450 52.6751492922082;64.1321445011101

0.23

0.72256631

55.01784327

63.65126906 55.0178432707259;63.6512690550082

0.24

0.753982237

57.54490654

62.82379116 57.5449065360773;62.8237911628808

0.25

0.785398163

60.17298209

61.55828736 60.1729820940222;61.558287355782

0.26

0.81681409

62.76120966

59.81918402 62.7612096646103;59.8191840234854

0.27

0.848230016

65.15190800

57.63519631 65.1519080025135;57.635196310938

0.28

0.879645943

67.20367228

55.09618623 67.2036722808004;55.0961862262374

0.29

0.91106187

68.81712564

52.33882075 68.8171256391841;52.3388207497111

0.3

0.942477796

69.95140335

49.52301428 69.9514033513346;49.5230142793735

0.31

0.973893723

70.62932399

46.80161777 70.6293239890026;46.8016177666445

0.32

1.005309649

70.93001588

44.28484797 70.9300158791468;44.2848479739735

0.33

1.036725576

70.96975600

41.99681462 70.9697559992324;41.9968146217973

0.34

1.068141502

70.88050378

39.81092898 70.8805037794425;39.8109289792114

0.35

1.099557429

70.84475957

37.35038780 70.8447595701386;37.3503877973459

0.36

1.130973355

71.36730347

34.11617032 71.3673034747897;34.1161703183515

0.37

1.162389282

73.08111757

30.77736813 73.0811175656185;30.777368132234

0.38

1.193805208

75.16469282

28.59223620 75.1646928167604;28.5922361962135

0.39

1.225221135

76.97783681

27.12499655 76.9778368103568;27.1249965549959

0.4

1.256637061

78.67659394

25.74294856 78.6765939394917;25.7429485561974

0.41

1.288052988

80.38505710

24.13258625 80.3850571043691;24.1325862537542

0.42

1.319468915

82.07705464

22.14623584 82.0770546393898;22.1462358405696

0.43

1.350884841

83.64166356

19.73638468 83.641663561829;19.7363846849422

0.44

1.382300768

84.94117171

16.93605620 84.9411717105828;16.9360561989882

0.45

1.413716694

85.85240872

13.84451026 85.8524087206031;13.844510255408

0.46

1.445132621

86.29510080

10.60784181 86.2951007975912;10.6078418053952

0.47

1.476548547

86.24803941

7.39382216 86.2480394082622;7.3938221582582

0.48

1.507964474

85.75257521

4.36342469 85.7525752095693;4.36342469496191

0.49

1.5393804

84.90298981

1.64224301 84.9029898119096;1.6422430149688

0.5

1.570796327

83.82352941

-0.70588235 83.8235294117647;-0.705882352941217

0.51

1.602212253

82.63145529

-2.70441508 82.6314552923682;-2.70441508235225

0.52

1.63362818

81.38585836

-4.50146998 81.3858583597957;-4.50146997986075

0.53

1.665044106

80.04826289

-6.45810518 80.0482628937388;-6.45810517924765

0.54

1.696460033

78.68175085

-9.24589901 78.681750851294;-9.24589901486189

0.55

1.727875959

78.08878772

-12.96502844 78.0887877171821;-12.9650284373174

0.56

1.759291886

78.56080079

-16.12068082 78.5608007905648;-16.1206808185154

0.57

1.790707813

79.29156480

-18.42024917 79.2915647997619;-18.4202491690663

0.58

1.822123739

79.98693761

-20.49240080 79.9869376050948;-20.4924007976811

0.59

1.853539666

80.58094823

-22.72183540 80.58094823239;-22.7218354020181

0.6

1.884955592

80.97882161

-25.25018780 80.978821614091;-25.2501878008583

0.61

1.916371519

81.06164824

-28.07680320 81.0616482412385;-28.0768032031265

0.62

1.947787445

80.72520475

-31.11167967 80.725204745292;-31.1116796653298

0.63

1.979203372

79.90940769

-34.21103622 79.9094076904069;-34.2110362195229

0.64

2.010619298

78.61416357

-37.20922051 78.6141635712765;-37.2092205051982

0.65

2.042035225

76.90174731

-39.94905621 76.9017473148365;-39.949056206959

0.66

2.073451151

74.88651970

-42.30864772 74.8865197030664;-42.308647715064

0.67

2.104867078

72.71328692

-44.22169043 72.7132869192996;-44.2216904337022

0.68

2.136283004

70.52553000

-45.68895510 70.52553000361;-45.6889550985749

0.69

2.167698931

68.42287947

-46.78098224 68.4228794667059;-46.7809822354439

0.7

2.199114858

66.40199451

-47.63963629 66.4019945106193;-47.639636294783

0.71

2.230530784

64.27560674

-48.51524544 64.2756067415439;-48.5152454419838

0.72

2.261946711

61.70609309

-49.93501195 61.706093086079;-49.9350119529239

0.73

2.293362637

59.05828315

-52.55798324 59.0582831483721;-52.5579832409292

0.74

2.324778564

57.53638344

-55.55293323 57.5363834409148;-55.5529332311513

0.75

2.35619449

56.84187386

-57.96904777 56.8418738598486;-57.9690477674228

0.76

2.387610417

56.31463711

-60.09744243 56.3146371079125;-60.0974424287818

0.77

2.419026343

55.65344382

-62.26971488 55.6534438223295;-62.2697148763291

0.78

2.45044227

54.68965490

-64.58733269 54.6896548981971;-64.5873326930876

0.79

2.481858196

53.31345239

-67.00390056 53.3134523878804;-67.0039005617248

0.8

2.513274123

51.47416996

-69.39577244 51.4741699603443;-69.3957724418494

0.81

2.544690049

49.18693298

-71.61050997 49.1869329750871;-71.6105099708268

0.82

2.576105976

46.53067388

-73.50390098 46.5306738788883;-73.5039009834016

0.83

2.607521902

43.63555013

-74.96838536 43.6355501302627;-74.96838535561

0.84

2.638937829

40.66120214

-75.95196758 40.6612021412897;-75.9519675762619

0.85

2.670353756

37.76846219

-76.46583064 37.7684621949193;-76.4658306367128

0.86

2.701769682

35.08700892

-76.57922700 35.0870089216036;-76.5792269976963

0.87

2.733185609

32.67922690

-76.40110000 32.6792268988867;-76.4010999962816

0.88

2.764601535

30.49341814

-76.05050411 30.4934181364367;-76.0505041074924

0.89

2.796017462

28.28433965

-75.63532333 28.2843396515394;-75.6353233313111

0.9

2.827433388

25.52058732

-75.35927734 25.5205873194052;-75.3592773438298

0.91

2.858849315

21.92174061

-75.90438747 21.9217406122161;-75.9043874738919

0.92

2.890265241

18.80073714

-77.51793056 18.8007371369348;-77.517930555776

0.93

2.921681168

16.78137364

-79.21204731 16.7813736442613;-79.2120473053236

0.94

2.953097094

15.17519277

-80.73406176 15.1751927689411;-80.7340617637349

0.95

2.984513021

13.48885098

-82.20716058 13.4888509798392;-82.2071605843305

0.96

3.015928947

11.49371702

-83.64879161 11.4937170239768;-83.6487916107168

0.97

3.047344874

9.10287921

-84.97260042 9.10287920904472;-84.9726004151831

0.98

3.078760801

6.32557297

-86.04941727 6.32557297246048;-86.0494172691328

0.99

3.110176727

3.24553622

-86.75449183 3.24553622077201;-86.7544918341167

3.141592654

0.00000000

-87.00000000 -2.21421301809992E-13;-87

1.01

3.17300858

-3.24553622

-86.75449183 -3.2455362207724;-86.7544918341167

1.02

3.204424507

-6.32557297

-86.04941727 -6.32557297246087;-86.0494172691327

1.03

3.235840433

-9.10287921

-84.97260042 -9.10287920904503;-84.9726004151829

1.04

3.26725636

-11.49371702

-83.64879161 -11.4937170239771;-83.6487916107167

1.05

3.298672286

-13.48885098

-82.20716058 -13.4888509798394;-82.2071605843303

1.06

3.330088213

-15.17519277

-80.73406176 -15.1751927689413;-80.7340617637348

1.07

3.361504139

-16.78137364

-79.21204731 -16.7813736442615;-79.2120473053234

1.08

3.392920066

-18.80073714

-77.51793056 -18.8007371369351;-77.5179305557758

1.09

3.424335992

-21.92174061

-75.90438747 -21.9217406122166;-75.9043874738917

1.1

3.455751919

-25.52058732

-75.35927734 -25.5205873194056;-75.3592773438298

1.11

3.487167845

-28.28433965

-75.63532333 -28.2843396515397;-75.6353233313111

1.12

3.518583772

-30.49341814

-76.05050411 -30.4934181364369;-76.0505041074924

1.13

3.549999699

-32.67922690

-76.40110000 -32.679226898887;-76.4010999962816

1.14

3.581415625

-35.08700892

-76.57922700 -35.0870089216039;-76.5792269976963

1.15

3.612831552

-37.76846219

-76.46583064 -37.7684621949197;-76.4658306367128

1.16

3.644247478

-40.66120214

-75.95196758 -40.66120214129;-75.9519675762618

1.17

3.675663405

-43.63555013

-74.96838536 -43.6355501302631;-74.9683853556098

1.18

3.707079331

-46.53067388

-73.50390098 -46.5306738788886;-73.5039009834015

1.19

3.738495258

-49.18693298

-71.61050997 -49.1869329750874;-71.6105099708265

1.2

3.769911184

-51.47416996

-69.39577244 -51.4741699603445;-69.3957724418491

1.21

3.801327111

-53.31345239

-67.00390056 -53.3134523878806;-67.0039005617246

1.22

3.832743037

-54.68965490

-64.58733269 -54.6896548981973;-64.5873326930873

1.23

3.864158964

-55.65344382

-62.26971488 -55.6534438223296;-62.2697148763288

1.24

3.89557489

-56.31463711

-60.09744243 -56.3146371079126;-60.0974424287815

1.25

3.926990817

-56.84187386

-57.96904777 -56.8418738598487;-57.9690477674225

1.26

3.958406744

-57.53638344

-55.55293323 -57.5363834409149;-55.5529332311509

1.27

3.98982267

-59.05828315

-52.55798324 -59.0582831483724;-52.5579832409288

1.28

4.021238597

-61.70609309

-49.93501195 -61.7060930860793;-49.9350119529236

1.29

4.052654523

-64.27560674

-48.51524544 -64.2756067415442;-48.5152454419837

1.3

4.08407045

-66.40199451

-47.63963629 -66.4019945106195;-47.6396362947829

1.31

4.115486376

-68.42287947

-46.78098224 -68.4228794667061;-46.7809822354438

1.32

4.146902303

-70.52553000

-45.68895510 -70.5255300036103;-45.6889550985748

1.33

4.178318229

-72.71328692

-44.22169043 -72.7132869192999;-44.221690433702

1.34

4.209734156

-74.88651970

-42.30864772 -74.8865197030667;-42.3086477150638

1.35

4.241150082

-76.90174731

-39.94905621 -76.9017473148368;-39.9490562069587

1.36

4.272566009

-78.61416357

-37.20922051 -78.6141635712767;-37.2092205051978

1.37

4.303981935

-79.90940769

-34.21103622 -79.9094076904071;-34.2110362195225

1.38

4.335397862

-80.72520475

-31.11167967 -80.7252047452921;-31.1116796653295

1.39

4.366813788

-81.06164824

-28.07680320 -81.0616482412386;-28.0768032031261

1.4

4.398229715

-80.97882161

-25.25018780 -80.978821614091;-25.2501878008579

1.41

4.429645642

-80.58094823

-22.72183540 -80.58094823239;-22.7218354020178

1.42

4.461061568

-79.98693761

-20.49240080 -79.9869376050947;-20.4924007976808

1.43

4.492477495

-79.29156480

-18.42024917 -79.2915647997618;-18.420249169066

1.44

4.523893421

-78.56080079

-16.12068082 -78.5608007905647;-16.120680818515

1.45

4.555309348

-78.08878772

-12.96502844 -78.0887877171821;-12.965028437317

1.46

4.586725274

-78.68175085

-9.24589901 -78.6817508512941;-9.24589901486145

1.47

4.618141201

-80.04826289

-6.45810518 -80.0482628937389;-6.45810517924739

1.48

4.649557127

-81.38585836

-4.50146998 -81.3858583597958;-4.50146997986054

1.49

4.680973054

-82.63145529

-2.70441508 -82.6314552923684;-2.704415082352

1.5

4.71238898

-83.82352941

-0.70588235 -83.8235294117648;-0.705882352940942

1.51

4.743804907

-84.90298981

1.64224301 -84.9029898119097;1.64224301496912

1.52

4.775220833

-85.75257521

4.36342469 -85.7525752095694;4.36342469496226

1.53

4.80663676

-86.24803941

7.39382216 -86.2480394082622;7.39382215825864

1.54

4.838052687

-86.29510080

10.60784181 -86.2951007975911;10.6078418053957

1.55

4.869468613

-85.85240872

13.84451026 -85.852408720603;13.8445102554084

1.56

4.90088454

-84.94117171

16.93605620 -84.9411717105826;16.9360561989886

1.57

4.932300466

-83.64166356

19.73638468 -83.6416635618288;19.7363846849425

1.58

4.963716393

-82.07705464

22.14623584 -82.0770546393896;22.1462358405699

1.59

4.995132319

-80.38505710

24.13258625 -80.3850571043689;24.1325862537544

1.6

5.026548246

-78.67659394

25.74294856 -78.6765939394915;25.7429485561976

1.61

5.057964172

-76.97783681

27.12499655 -76.9778368103565;27.124996554996

1.62

5.089380099

-75.16469282

28.59223620 -75.1646928167601;28.5922361962137

1.63

5.120796025

-73.08111757

30.77736813 -73.0811175656182;30.7773681322344

1.64

5.152211952

-71.36730347

34.11617032 -71.3673034747895;34.1161703183519

1.65

5.183627878

-70.84475957

37.35038780 -70.8447595701386;37.3503877973463

1.66

5.215043805

-70.88050378

39.81092898 -70.8805037794425;39.8109289792117

1.67

5.246459731

-70.96975600

41.99681462 -70.9697559992324;41.9968146217976

1.68

5.277875658

-70.93001588

44.28484797 -70.9300158791467;44.2848479739738

1.69

5.309291585

-70.62932399

46.80161777 -70.6293239890025;46.8016177666448

1.7

5.340707511

-69.95140335

49.52301428 -69.9514033513344;49.5230142793739

1.71

5.372123438

-68.81712564

52.33882075 -68.8171256391839;52.3388207497115

1.72

5.403539364

-67.20367228

55.09618623 -67.2036722808002;55.0961862262377

1.73

5.434955291

-65.15190800

57.63519631 -65.1519080025132;57.6351963109383

1.74

5.466371217

-62.76120966

59.81918402 -62.76120966461;59.8191840234856

1.75

5.497787144

-60.17298209

61.55828736 -60.1729820940219;61.5582873557822

1.76

5.52920307

-57.54490654

62.82379116 -57.544906536077;62.8237911628809

1.77

5.560618997

-55.01784327

63.65126906 -55.0178432707256;63.6512690550083

1.78

5.592034923

-52.67514929

64.13214450 -52.6751492922079;64.1321445011101

1.79

5.62345085

-50.48756019

64.39841239 -50.487560194053;64.3984123925903

1.8

5.654866776

-48.22789437

64.62955503 -48.2278943672158;64.6295550277116

1.81

5.686282703

-45.43106385

65.20198037 -45.431063852782;65.2019803715815

1.82

5.71769863

-42.13409510

66.85694986 -42.1340951036236;66.856949855523

1.83

5.749114556

-39.71219035

69.29859582 -39.7121903457475;69.29859582225

1.84

5.780530483

-38.31186221

71.45637654 -38.3118622137985;71.4563765365542

1.85

5.811946409

-37.20454177

73.35854418 -37.2045417651463;73.3585441777192

1.86

5.843362336

-35.98063512

75.25156678 -35.9806351216723;75.2515667778521

1.87

5.874778262

-34.43811321

77.20063649 -34.4381132062981;77.2006364946686

1.88

5.906194189

-32.47703936

79.13855052 -32.4770393559842;79.138550515171

1.89

5.937610115

-30.07678407

80.93537994 -30.0767840670053;80.9353799414317

1.9

5.969026042

-27.28872435

82.44833113 -27.2887243498558;82.4483311260236

1.91

6.000441968

-24.22458785

83.55777068 -24.2245878545098;83.55777067674

1.92

6.031857895

-21.03704379

84.19197589 -21.0370437879142;84.1919758895387

1.93

6.063273821

-17.89395299

84.34026236 -17.8939529875133;84.3402623626725

1.94

6.094689748

-14.94922937

84.05350571 -14.9492293715537;84.05350571445

1.95

6.126105675

-12.31319640

83.43135909 -12.3131964042411;83.431359085647

1.96

6.157521601

-10.02320085

82.59571147 -10.0232008474499;82.5957114726155

1.97

6.188937528

-8.00839027

81.65027228 -8.00839026643702;81.6502722773687

1.98

6.220353454

-6.02433264

80.63601672 -6.02433263669025;80.6360167200272

1.99

6.251769381

-3.53292893

79.58409265 -3.53292893315235;79.584092653363

6.283185307

0.00000000

79.00000000 0;79

equal start #'s

Usage:
Copy the X;Y column data into new text document on desktop. (For full epicycloidal) (similarly for full Hypocycloidal.)
Import the text document into Alibre using Renner Alibre Point Import Addin, 2D, with Spline (and can do points also), not cl
(With points, can see relatively uniform interval of points, in sketch mode Alibre)
Closed Spline can be extruded!!!

Brian McMillin 12/13/2010

WANG ShuYan

why mess around with max.

Description:
Radius of ring gear, which consist of many cylindrical rollers.
Radius of one cylindrical roller of the ring gear.
Tooth number of the ring gear. ("pin wheel") (number of rollers)
Tooth number of the cyloid gear. (number of lobes)
Eccentricity of CrankShaft. (distance between ring gear and cycloidal gear centers)
Keep e < (Rz/b) to avoid interference of teeth. (Rz/eb > 1 ) (From Joong paper)

*K - (2)*(K)*COS((g)(')/(b - g))
(1+K*K - (2)*(K)*COS((g)(')/(b - g))
"curtate coefficient"
= x*cotangent(/g)

oidal" outer gear is generated.

al OUTER profile use MINUS.

ferent Epi gear, from the

po outer gear, using

po" unless..?

gent() for an arbitrary angle.

CASE: (b - g) =(-1) "Hypo"cycloidal profile for outer cycloid.

X =
R*SIN(() - (e)*SIN((b)*()*(-1)) + (_r)*COS()
Y =
R*COS(() - (e)*COS((b)*()*(-1)) - (_r)*SIN()
COS() =

((-1)*K*SIN((b)*()(-1)) - SIN())/SQRT(1+K*K - (2)*(K)*COS((g)*()(-1))

SIN() =

(((-1)*(-1)*K)*COS((b)*()(-1)) + COS())/SQRT(1+K*K - (2)*(K)*COS((g)*()(-1)

K=K= =
-0.55 =(e*b)/((R)*(b-g)
NOTE: Lots of minus signs.
Sample Hypo
Value
80
7
11
12
4
7.272727273

Variable
R
_r
b
g
e
Rz/b

0.00

X;Y concatenate

83.00 0;83

3.15676182

83.16079433 3.15676182151284;83.1607943310928

6.18420953

83.62094783 6.18420952726459;83.6209478260832

8.97642194

84.31842131 8.97642193617868;84.3184213101208

11.47576895

85.16559676 11.4757689489185;85.1655967564881

13.70582759

86.07385647 13.7058275905789;86.0738564737556

15.83651103

86.98522019 15.8365110325232;86.9852201906955

18.34534804

87.85115512 18.3453480350256;87.8511551195625

22.07176744

88.17025981 22.0717674377427;88.1702598075317

26.20762794

86.72424213 26.207627943204;86.7242421310964

28.70513323

84.55278565 28.7051332305452;84.5527856474624

30.24972064

82.62799281 30.2497206430678;82.6279928078665

31.63815245

80.77103677 31.6381524537805;80.7710367734246

33.19058915

78.83956734 33.1905891466359;78.8395673416726

35.03773023

76.84047346 35.0377302316489;76.84047345944

37.21823117

74.85728436 37.2182311654925;74.8572843617527

39.70627522

72.99877683 39.7062752215587;72.998776830667

42.42602926

71.36631214 42.4260292620762;71.3663121355909

45.26699938

70.03230598 45.2669993825271;70.0323059799463

48.10343948

69.02723717 48.1034394764969;69.0272371692255

50.81869322

68.33457981 50.8186932160987;68.3345798114435

53.33682575

67.89285563 53.3368257489347;67.8928556259621

55.67073883

67.60014878 55.6707388319104;67.6001487790669

58.01257836

67.29426353 58.0125783622845;67.2942635317811

60.85655120

66.56903647 60.8565512043432;66.5690364691566

64.34671709

64.34671709 64.3467170879758;64.3467170879758

66.56903647

60.85655120 66.5690364691566;60.8565512043432

67.29426353

58.01257836 67.2942635317811;58.0125783622845

67.60014878

55.67073883 67.6001487790669;55.6707388319104

67.89285563

53.33682575 67.8928556259621;53.3368257489347

68.33457981

50.81869322 68.3345798114435;50.8186932160987

69.02723717

48.10343948 69.0272371692255;48.1034394764969

70.03230598

45.26699938 70.0323059799463;45.2669993825271

71.36631214

42.42602926 71.3663121355909;42.4260292620762

72.99877683

39.70627522 72.9987768306671;39.7062752215586

74.85728436

37.21823117 74.8572843617527;37.2182311654924

76.84047346

35.03773023 76.8404734594401;35.0377302316489

78.83956734

33.19058915 78.8395673416726;33.1905891466359

80.77103677

31.63815245 80.7710367734246;31.6381524537805

82.62799281

30.24972064 82.6279928078665;30.2497206430677

84.55278565

28.70513323 84.5527856474625;28.7051332305451

86.72424213

26.20762794 86.7242421310965;26.207627943204

88.17025981

22.07176744 88.1702598075317;22.0717674377426

87.85115512

18.34534804 87.8511551195625;18.3453480350256

86.98522019

15.83651103 86.9852201906955;15.8365110325232

86.07385647

13.70582759 86.0738564737556;13.7058275905788

85.16559676

11.47576895 85.1655967564881;11.4757689489185

84.31842131

8.97642194 84.3184213101208;8.97642193617863

83.62094783

6.18420953 83.6209478260832;6.18420952726452

83.16079433

3.15676182 83.1607943310928;3.15676182151276

83.00000000

0.00000000 83;-6.3566126348948E-14

83.16079433

-3.15676182 83.1607943310928;-3.1567618215129

83.62094783

-6.18420953 83.6209478260832;-6.18420952726466

84.31842131

-8.97642194 84.3184213101209;-8.97642193617875

85.16559676

-11.47576895 85.1655967564881;-11.4757689489186

86.07385647

-13.70582759 86.0738564737556;-13.7058275905789

86.98522019

-15.83651103 86.9852201906955;-15.8365110325233

87.85115512

-18.34534804 87.8511551195625;-18.3453480350257

88.17025981

-22.07176744 88.1702598075317;-22.0717674377429

86.72424213

-26.20762794 86.7242421310964;-26.2076279432041

84.55278565

-28.70513323 84.5527856474624;-28.7051332305452

82.62799281

-30.24972064 82.6279928078664;-30.2497206430678

80.77103677

-31.63815245 80.7710367734245;-31.6381524537805

78.83956734

-33.19058915 78.8395673416725;-33.190589146636

76.84047346

-35.03773023 76.84047345944;-35.037730231649

74.85728436

-37.21823117 74.8572843617526;-37.2182311654926

72.99877683

-39.70627522 72.998776830667;-39.7062752215587

71.36631214

-42.42602926 71.3663121355909;-42.4260292620763

70.03230598

-45.26699938 70.0323059799463;-45.2669993825272

69.02723717

-48.10343948 69.0272371692254;-48.103439476497

68.33457981

-50.81869322 68.3345798114434;-50.8186932160988

67.89285563

-53.33682575 67.8928556259621;-53.3368257489348

67.60014878

-55.67073883 67.6001487790669;-55.6707388319105

67.29426353

-58.01257836 67.2942635317811;-58.0125783622846

66.56903647

-60.85655120 66.5690364691566;-60.8565512043434

64.34671709

-64.34671709 64.3467170879757;-64.3467170879759

60.85655120

-66.56903647 60.856551204343;-66.5690364691567

58.01257836

-67.29426353 58.0125783622844;-67.2942635317811

55.67073883

-67.60014878 55.6707388319103;-67.6001487790669

53.33682575

-67.89285563 53.3368257489346;-67.8928556259621

50.81869322

-68.33457981 50.8186932160986;-68.3345798114435

48.10343948

-69.02723717 48.1034394764968;-69.0272371692255

45.26699938

-70.03230598 45.266999382527;-70.0323059799464

42.42602926

-71.36631214 42.4260292620761;-71.366312135591

39.70627522

-72.99877683 39.7062752215585;-72.9987768306671

37.21823117

-74.85728436 37.2182311654923;-74.8572843617528

35.03773023

-76.84047346 35.0377302316488;-76.8404734594401

33.19058915

-78.83956734 33.1905891466359;-78.8395673416727

31.63815245

-80.77103677 31.6381524537804;-80.7710367734247

30.24972064

-82.62799281 30.2497206430677;-82.6279928078666

28.70513323

-84.55278565 28.7051332305451;-84.5527856474625

26.20762794

-86.72424213 26.2076279432038;-86.7242421310966

22.07176744

-88.17025981 22.0717674377425;-88.1702598075317

18.34534804

-87.85115512 18.3453480350255;-87.8511551195624

15.83651103

-86.98522019 15.8365110325231;-86.9852201906955

13.70582759

-86.07385647 13.7058275905788;-86.0738564737556

11.47576895

-85.16559676 11.4757689489184;-85.1655967564881

8.97642194

-84.31842131 8.97642193617853;-84.3184213101208

6.18420953

-83.62094783 6.1842095272644;-83.6209478260832

3.15676182

-83.16079433 3.15676182151266;-83.1607943310927

0.00000000

-83.00000000 -2.12970399324398E-13;-83

-3.15676182

-83.16079433 -3.15676182151303;-83.1607943310928

-6.18420953

-83.62094783 -6.18420952726479;-83.6209478260832

-8.97642194

-84.31842131 -8.97642193617885;-84.3184213101209

-11.47576895

-85.16559676 -11.4757689489187;-85.1655967564882

-13.70582759

-86.07385647 -13.705827590579;-86.0738564737556

-15.83651103

-86.98522019 -15.8365110325234;-86.9852201906956

-18.34534804

-87.85115512 -18.3453480350259;-87.8511551195625

-22.07176744

-88.17025981 -22.071767437743;-88.1702598075317

-26.20762794

-86.72424213 -26.2076279432043;-86.7242421310963

-28.70513323

-84.55278565 -28.7051332305453;-84.5527856474623

-30.24972064

-82.62799281 -30.2497206430679;-82.6279928078663

-31.63815245

-80.77103677 -31.6381524537806;-80.7710367734244

-33.19058915

-78.83956734 -33.1905891466361;-78.8395673416724

-35.03773023

-76.84047346 -35.037730231649;-76.8404734594399

-37.21823117

-74.85728436 -37.2182311654927;-74.8572843617525

-39.70627522

-72.99877683 -39.7062752215588;-72.9987768306669

-42.42602926

-71.36631214 -42.4260292620764;-71.3663121355908

-45.26699938

-70.03230598 -45.2669993825273;-70.0323059799462

-48.10343948

-69.02723717 -48.1034394764972;-69.0272371692254

-50.81869322

-68.33457981 -50.8186932160989;-68.3345798114434

-53.33682575

-67.89285563 -53.3368257489349;-67.8928556259621

-55.67073883

-67.60014878 -55.6707388319106;-67.6001487790668

-58.01257836

-67.29426353 -58.0125783622846;-67.294263531781

-60.85655120

-66.56903647 -60.8565512043435;-66.5690364691565

-64.34671709

-64.34671709 -64.3467170879761;-64.3467170879756

-66.56903647

-60.85655120 -66.5690364691567;-60.8565512043429

-67.29426353

-58.01257836 -67.2942635317811;-58.0125783622843

-67.60014878

-55.67073883 -67.6001487790669;-55.6707388319102

-67.89285563

-53.33682575 -67.8928556259622;-53.3368257489345

-68.33457981

-50.81869322 -68.3345798114435;-50.8186932160985

-69.02723717

-48.10343948 -69.0272371692256;-48.1034394764966

-70.03230598

-45.26699938 -70.0323059799464;-45.2669993825268

-71.36631214

-42.42602926 -71.366312135591;-42.4260292620759

-72.99877683

-39.70627522 -72.9987768306672;-39.7062752215584

-74.85728436

-37.21823117 -74.8572843617528;-37.2182311654923

-76.84047346

-35.03773023 -76.8404734594402;-35.0377302316487

-78.83956734

-33.19058915 -78.8395673416728;-33.1905891466358

-80.77103677

-31.63815245 -80.7710367734248;-31.6381524537804

-82.62799281

-30.24972064 -82.6279928078666;-30.2497206430677

-84.55278565

-28.70513323 -84.5527856474627;-28.705133230545

-86.72424213

-26.20762794 -86.7242421310966;-26.2076279432037

-88.17025981

-22.07176744 -88.1702598075317;-22.0717674377423

-87.85115512

-18.34534804 -87.8511551195624;-18.3453480350254

-86.98522019

-15.83651103 -86.9852201906954;-15.836511032523

-86.07385647

-13.70582759 -86.0738564737555;-13.7058275905787

-85.16559676

-11.47576895 -85.165596756488;-11.4757689489183

-84.31842131

-8.97642194 -84.3184213101208;-8.97642193617843

-83.62094783

-6.18420953 -83.6209478260832;-6.18420952726433

-83.16079433

-3.15676182 -83.1607943310927;-3.15676182151248

-83.00000000

0.00000000 -83;3.38221949467358E-13

-83.16079433

3.15676182 -83.1607943310928;3.15676182151316

-83.62094783

6.18420953 -83.6209478260833;6.18420952726487

-84.31842131

8.97642194 -84.3184213101209;8.97642193617899

-85.16559676

11.47576895 -85.1655967564882;11.4757689489188

-86.07385647

13.70582759 -86.0738564737557;13.7058275905791

-86.98522019

15.83651103 -86.9852201906956;15.8365110325235

-87.85115512

18.34534804 -87.8511551195626;18.345348035026

-88.17025981

22.07176744 -88.1702598075316;22.0717674377433

-86.72424213

26.20762794 -86.7242421310962;26.2076279432044

-84.55278565

28.70513323 -84.5527856474622;28.7051332305454

-82.62799281

30.24972064 -82.6279928078663;30.2497206430679

-80.77103677

31.63815245 -80.7710367734243;31.6381524537807

-78.83956734

33.19058915 -78.8395673416723;33.1905891466362

-76.84047346

35.03773023 -76.8404734594398;35.0377302316491

-74.85728436

37.21823117 -74.8572843617525;37.2182311654927

-72.99877683

39.70627522 -72.9987768306668;39.706275221559

-71.36631214

42.42602926 -71.3663121355907;42.4260292620765

-70.03230598

45.26699938 -70.0323059799462;45.2669993825274

-69.02723717

48.10343948 -69.0272371692254;48.1034394764972

-68.33457981

50.81869322 -68.3345798114434;50.8186932160991

-67.89285563

53.33682575 -67.8928556259621;53.336825748935

-67.60014878

55.67073883 -67.6001487790668;55.6707388319107

-67.29426353

58.01257836 -67.2942635317811;58.0125783622848

-66.56903647

60.85655120 -66.5690364691564;60.8565512043436

-64.34671709

64.34671709 -64.3467170879754;64.3467170879763

-60.85655120

66.56903647 -60.8565512043428;66.5690364691568

-58.01257836

67.29426353 -58.0125783622842;67.2942635317812

-55.67073883

67.60014878 -55.6707388319101;67.6001487790669

-53.33682575

67.89285563 -53.3368257489344;67.8928556259622

-50.81869322

68.33457981 -50.8186932160984;68.3345798114435

-48.10343948

69.02723717 -48.1034394764966;69.0272371692256

-45.26699938

70.03230598 -45.2669993825267;70.0323059799465

-42.42602926

71.36631214 -42.4260292620758;71.3663121355911

-39.70627522

72.99877683 -39.7062752215583;72.9987768306673

-37.21823117

74.85728436 -37.2182311654921;74.8572843617529

-35.03773023

76.84047346 -35.0377302316486;76.8404734594403

-33.19058915

78.83956734 -33.1905891466357;78.8395673416728

-31.63815245

80.77103677 -31.6381524537803;80.7710367734248

-30.24972064

82.62799281 -30.2497206430676;82.6279928078668

-28.70513323

84.55278565 -28.7051332305449;84.5527856474627

-26.20762794

86.72424213 -26.2076279432036;86.7242421310967

-22.07176744

88.17025981 -22.0717674377421;88.1702598075318

-18.34534804

87.85115512 -18.3453480350252;87.8511551195623

-15.83651103

86.98522019 -15.8365110325229;86.9852201906954

-13.70582759

86.07385647 -13.7058275905786;86.0738564737555

-11.47576895

85.16559676 -11.4757689489181;85.165596756488

-8.97642194

84.31842131 -8.97642193617828;84.3184213101207

-6.18420953

83.62094783 -6.18420952726416;83.6209478260831

-3.15676182

83.16079433 -3.15676182151241;83.1607943310927

0.00000000

ll Hypocycloidal.)
an do points also), not closed.

83.00000000 0;83

equal start #'s

((g)*()(-1))

(K)*COS((g)*()(-1))

page2
Pin Wheel Epitrochoid meshing
Brian McMillin 12/10/2010
Based upon "Geometry Design and Analysis for Trochoidal-Type Speed Reducers: with Conjugate Envelopes". Chiu-Fau Hsieh
Variable
r
R
N
m

Value
60
5
16
1

Units
mm
mm
-

Description:
Radius of ring gear, which consist of many rollers.
Radius of one cylindrical roller of the ring gear. ("R_sub_r" in article)
Tooth number of the ring gear. ("pin wheel") (number of rollers)
Tooth number difference. N-m = N-1 = Epitrhochod tooth number.

mm

Eccentricity of CrankShaft. (distance between ring gear and cycloidal gear centers)

MATRIX CALCULATIONS
(r) = (M)(r) = (M)(M)(r)
cos((N/(N-m)))
(-1)sin((N/(N-m)))
0

sin((N/(N-m)))
cos((N/(N-m)))
0

0
0
1

cos
sin

(r) =

cos((N/(N-m)))
(-1)sin((N/(N-m)))
0

sin((N/(N-m)))
cos((N/(N-m)))
0

0
0
1

cos * 0 + (-1)sin * r + 0 * 1
sin * 0 + cos * r + (-1)c * 1
0*0+0*r+1*1

(r) =

cos((N/(N-m)))
(-1)sin((N/(N-m)))
0

sin((N/(N-m)))
cos((N/(N-m)))
0

0
0
1

(-1)rsin
(rcos + (-1)c)
1

(r) =

cos((N/(N-m))) * (-1)rsin + sin((N/(N-m))) * (rcos + (-1)c) + 0 * 1

(-1)sin((N/(N-m))) * (-1)rsin + cos((N/(N-m))) * (rcos + (-1)c) + 0 * 1
0 * (-1)rsin + 0 * (rcos + (-1)c) + 1 * 1

(r) =

(-1)sin
cos
0

0
(-1)c
1

0
r
1

(r) =

cos((N/(N-m))) * (-1)rsin + sin((N/(N-m))) * rcos + (-1)csin((N/(N-m)))

sin((N/(N-m))) * rsin + cos((N/(N-m))) * rcos + (-1)ccos((N/(N-m)))
1
sin(x-y) = sin(x)cos(y) - cos(x)sin(y)
cos(x-y) = cos(x)cos(y) + sin(x)sin(y)

(r) =

(Substitute Trig Identities)

rsin(((N/(N-m))) - ) + (-1)c*sin((N/(N-m)))
rcos(((N/(N-m))) -) + (-1)c*cos((N/(N-m)))
1

N/(N-m) - = (N/(N-m) - 1) = N/(N-m) - (N-m)/(N-m) = (N-N+m)/(N-m) = m/(N-m)

(r) =

rsin((m/(N-m))) + (-1)c*sin((N/(N-m)))
rcos((m/(N-m))) + (-1)c*cos((N/(N-m)))
1

(AGREES with source Paper)

=

r x
r y
1

Epicycloidal Wheel Profile: (from r and derivatives and unit normal vectors, per source Paper..)
r x + * R
r =
r y + * R
1

r =

rsin(((N/(N-m))) - ) + (-1)c*sin((N/(N-m))) + *(1/(N-m))*mrcos(m/(N-m)) - cN cos(((N/(N-m)))+/NORM+ * R

rcos(((N/(N-m))) -) + (-1)c*cos((N/(N-m))) + *(1/(N-m))*(-1)mrsin(m/(N-m)) + cN sin(((N/(N-m)))+/NORM+ * R
1

Norm =
(speed)

SQRT[(T) + (T)+

SQRT**(1/(N-m))*mrcos(m/(N-m)) - cN cos(((N/(N-m)))+^2 +
*(1/(N-m))*(-1)mrsin(m/(N-m)) + cN sin(((N/(N-m)))+^2+