The work involved development of a program aimed automating the calculation

of bearing forces at shaft end gear trains. Power transmission in both manual and
automatic transmissions are handled by gears mounted on shafts which inturn
rests in the transmission housing with the help of bearings. Thus bearing design
and the over-all transmission housing design depends on the forces acting on the
bearings and inturn on housing during the gear engagement. Hence it becomes
very important to quantify and obtain these forces on the bearing mounts as an
effort to improve the life as well as performance of the system. The contact forces
generated during engagement of the gears for power transmission can be used to
calculate the bearing forces developed at the bearing mounts. As the calculation
of these forces at the bearing mounts involved long manual calculation procedure
which were time consuming and error prone, a Python program was developed in
order to calculate the forces at the mounts. Further the validation of the program
is done by comparing the program output with the manual calculated results of
various examples. Finally, the configuration of the gear trains used in validation of
the program output were modelled using Autodesk FUSION 360 and drawings
were generated for these models which can be imported into NX Nastran in order
for visuallising the same results obtained from the program
Literature Survey
Freudenstein et al., (1972) General programmable procedures have been
described for the kinematic analysis, static force analysis, and power flow without
friction, of spur gear epicyclic gear trains, directly from the kinematic structure.
Same procedure can be implemented for including friction, elastic effects,
dynamic considerations, floating arms, and singular configurations can be
developed along similar lines. It also sheds light on the recently developed
graphical representation of the kinematic structures which are more suitable and
solvable. The procedures for kinematic analysis, force analysis, and power-flow
determination are outlined in simple step fashion, using, for purposes of
illustration, a fairly complex, coupled epicyclic drive.
L-W. Tsai (1988) [4] Systematic graphical approach has been developed for the
kinematic analysis of multi-degree-of-freedom robotic bevel-gear trains. Bevel-
gear-type end effector can be described by an equivalent open-loop chain and the
relative rotation between two adjacent links in the equivalent open-loop chain is
derived from the fundamental circuit equations and the coaxial conditions. This
procedure is very general and can be applied to the kinematic analysis of any
multi-degree-of-freedom bevel-gear train and is demonstrated by the kinematic
analysis of two robotic wrists. Further the advantage of the method is highlighted
by applying it to the kinematic analysis of the articulated robotic mechanism used
by the Cincinnati Milacron T3.
Cheng-Ho Hsu, Kin-Tak Lam (1992) [5]A new graph representation and matrix
representation are proposed to represent the kinematic structure of a planetary
spur-gear train. Algorithm is developed for the automatic determination of all
possible fundamental circuits and the automatic derivation of its associated
coefficient matrix. An interactive computer program is developed for the
kinematic analysis of planetary spur-gear trains with any number of degrees of
freedom based on coefficient matrix and linear equations of motion which are
derived and solved. Inputs to the program are only graphical representation and
mating gear data and outputs are all possible fundamental circuits and rotational
displacements.

E. Pennestri`, F. Freudenstein (1993) [10] Two methods of systematic analysis for

the power-flow and static-force analysis of epicyclic spur-gear drives is presented.
These include: a systematic and modern approach to the dynamic analysis of
epicyclic spur-gear trains; a ready computer implementation of both methods;
determination of intermediate results for the efficiency analysis of epicyclic spur-
gear drives. The theoretical bases of the new methodology of analysis are
discussed and numerical examples developed. Applied procedure has similarities
with the algorithm suggested by of previous authors. Another interesting feature
of this method is the possibility of performing tests on the correctness of the
numerical results.

Ettore Pennestri, F. Freudenstein (1993) [12] The development of a general

algorithm for the determination of efficiency in split-power spur-gear trains. This
model includes meshing losses only; for a more realistic estimation other sources
can be considered separately. Formulation is based on the dual correspondence
between the kinematic structure of the gear drive and a labelled graph, allows a
ready coding of the efficiency analysis in a general computer program. Validation
of the result is done by comparing with the results of other authors. This feature
eases the computer implementation of the method and also no decomposition of
the gear drive.
Hsin-I Hsieh,  Lung-Wen Tsai (1996) [8] New methodology for the speed ratio
analysis of epicyclic-type transmission mechanisms is presented. The kinematic
characteristics associated with various operation modes of fundamental geared
entities are investigated. It is shown that the overall speed ratio of an epicyclic
gear mechanism can be expressed in terms of its fundamental geared entities.
Method leads to an automated derivation of the speed ratio of an epicyclic-type
transmission mechanism without the need of a symbolic manipulation software.

Giacomo Mantriota, Ettore Pennestri (2002) [13] This paper presents a new
methodology for computing the mechanical efficiency of Epicyclic Gear Trains.
This method is capable of taking into account load dependent power losses,
inertial effects, losses due to sliding, rolling, windage and ball bearings. This paper
also describes an apparatus used for experimental validation of the above
proposed method. The mechanical efficiency of the epicyclic gear train has been
measured and theoretically estimated with two different set of working
parameters. Under the hypotheses of only one tooth in contact and considering
meshing losses only, the instantaneous mechanical efficiency η of an ordinary gear
train is computed. A special test rig was built especially for measurement of
power flows and efficiency in Power Split CVT planetary gear train.

Ettore Pennestri', Pier Valentini (2002) [15] A method of inverse dynamic analysis
of epicyclic gear trains (EGT) has been proposed which makes use of the
topological properties of the graphs rep-resenting EGTs. The kinematic structure
of the mechanism is described by means of the vertices adjacency list of the
corresponding graph. The method allows also to compute the equivalent inertia
of the entire mechanism reduced to the input shaft which is required for the
estimation of torsional frequencies of the transmission shaft. A computer
program has been developed, characteristic feature of such program is the format
of input data that allows to automatically generate not only a non-isomorphic
kinematic structure, but also the equations required for its inverse dynamic
analysis.

A. Kahraman et al. (2004) [14] Formula for analyzing speeds and forces of the
gear components of planetary automatic transmissions is derived. Formula is
capable of analyzing any one-degree-of-freedom automatic transmission gear
train containing any number of simple, compound or complex-compound
planetary gear sets. Also includes kinematic analysis formulation to compute
rotational speeds of gears and carriers, a gear ratio and kinematic configuration
search algorithm, and a power flow analysis formulation. Given the type and
number of planetary gear sets, the algorithm can determine all possible kinematic
configurations and gear tooth count combinations that result in a required set of
gear ratios while eliminating all unfavorable sequences. The power-flow analysis
formulation, performs a complete static force (power-flow) analysis to determine
all gear and bearing forces and moments, and clutch and connection torque
values. A five-speed transmission example is considered to highlight the
capabilities of the proposed formulation.

Carl A. Nelson, Raymond J. Cipra (2005) [1] Kinematic analysis technique is

introduced to find the angular velocities of all links in bevel epicyclic gear trains.
Usefulness of the method is demonstrated through its application to power-flow
and efficiency analyses as well as its implementation in computer software. This
discussion is limited to gear trains whose input and output axes are collinear, such
as automotive automatic transmissions. This method draws on the strengths of
other methods in common use, and its simplicity and usefulness have been
demonstrated by computer implementation in a spreadsheet program. It is
relatively simple and easy to automate; it is able to accurately solve for the
angular velocities of links whose axes of rotation are not parallel to that of the
input or output link which are crucial in power-flow analysis and determination of
efficiency for bevel gear trains. The power-flow and efficiency analysis procedures
presented are also new ways which extend existing techniques derived for planar
mechanisms to the domain of bevel gear trains.
Long Chang Hsieh et al. (2006) [16] Proposes an algorithm for the kinematic
design of planetary gear trains with high reduction ratio. Based on the concept of
train value equation, a new representation to present the kinematic relationship
of the members of the train is proposed. Based on the graphical representation
an efficient algorithm for the kinematic design of planetary gear trains with high
reduction ratio is proposed. Three design examples are designed to illustrate the
design algorithm. Based on the proposed algorithm, the conclusion is that all
planetary gear trains with high reduction ratio can be synthesized.

Chao Chen , Jorge Angeles (2007) [11] The concept of virtual power (the power
measured in a moving frame, which rotates around the center of an EGT at a
constant angular velocity) is first defined as the power measured, in a non-inertial
frame, in an epicyclic gear train. The concept of virtual-power ratio, and its
invariance related to the power loss in an Epicyclic system are proved. Virtual
power flow balance of gear train is shown, based on which algorithm to compute
gear mess power loss and train efficiency is formulated which does not require
static analysis. Further the algorithm result, accuracy and the overall work is
validated with the previous works.

E.L. Esmail (2007) [17] A new methodology using graph theory for velocity ratio
analysis of epicyclic type transmission mechanism is presented which detects the
fundamental geared entity (FGE). A nomogram, also called a nomograph,
alignment chart or abaque, is a graphical calculating device, a two-dimensional
diagram designed to allow the approximate graphical computation of a
mathematical function. Identified FEGs are used to automatically construct
nomographs in systematic manner using which the associated kinematic
characteristics are investigated and using single nomograph one can identify
angular velocities of all links of epicyclic gear mechanism (EGM). It is also shown
that overall velocity ratio of EGM can be expressed in terms of gear ratios of its
gear pairs. Algebraic expression for all of velocity ratios of an EGM and FGE can be
obtained by observation without needing to solve the equations repeatedly and
also exact size of each gear. This method also provides an insight on effects of gear
size on the velocity ratios of EGM which is useful in identifying of clutching
sequence during phase of an epicyclic-type transmission mechanism. The method
is validated by applying it to four transmission gear trains for which the results are
already available in the literature. This method is also applicable for bevel gear
trains and also an automated methodology for enumeration of various clutching
sequence associated with the EGM can be developed.

Julie Penaud, Daniel Alazard (2010) [2] A general kinematic analysis method for
complex gear mechanisms which is an improvement of the Nelson’s method. Uses
null-space of the adjacency matrix associated with the graph of the mechanism
weighted by complex coefficients. Used computing the rotational speed ratios of
all the links and the frequency of all the contacts in this mechanism. Approach is
applied to various examples including a two degrees of freedom car differential
and it makes possible to deal with complex systems with non-co-linear input and
output axis. Method also tells about gear frequencies and all other systems in
contact like ball-bearings etc. This was applied to analyses of the main gear box of
helicopter with sensors for data acquisition and comparison etc.
Mi-Ching Tsai et al. (2010) [7] This paper employs control techniques to analyze
kinematic relationships via block diagrams for planetary gear systems. Tangent-
velocity equations at each contact point of the mechanical gear sets are utilized to
plot the block diagrams. Concepts of feedback and feedforward strategies are
adopted to illustrate speed-reduction and increasing functions in kinematics with
sensitivity analysis. Structural difference between unusual planetary gears and
common ones is also explained based on the characteristic equation of feedback
strategies for structural constraints in terms of stability conditions. Further an
example is illustrated using a cam-controlled planetary gear system upon which
the above technique is validated.

Cheng Wang, Zhao yao Shi (2015) [9] Since the clearance volume caused by the
bottom clearance and addendum modification is not considered in the volume
models there is error in volume calculation. Gears employ fixed structure and
their structural changes caused by the dimension changes are not considered in
the process of optimization. Thus, this paper firstly deduces the formula of
clearance volume and the same is validated using an example. Secondly, volume
formulas of different structure of spur gears like web-type, spoke type etc. are
deduced along with their design variables, objective function and constrains.
Finally, a single stage spur gear train is as an example, the optimization is carried
out.

Milan Novaković et al. (2016) [3] Detailed kinematic analysis of the gear set is
explained in a form of the calculation of the number of revolutions for every gear
set, independently to the axis around which they revolve. It also highlights the
case of having two blocked gears, the whole system is acting like a coupling, so
the transmission ratio is 1. While choosing the adequate number of gear teeth
depending on the need, it is necessary to pay attention on getting the highest
possible number of varieties of transmission ratios.

References:
1. Nelson, C. A., & Cipra, R. J. (2005). Simplified Kinematic Analysis of Bevel
Epicyclic Gear Trains with Application to Power-Flow and Efficiency Analyses.
Journal of Mechanical Design, 127(2), 278. doi:10.1115/1.1814392.
2. Julie Penaud, Daniel Alazard Kinematic Analysis of Complex Gear Mechanisms
Proceedings of the World Congress on Engineering 2010 Vol II WCE 2010, June
30 - July 2, 2010, London, U.K.
3. Milan Novaković, Blaža Stojanović, Milos Milisavlijevic, Slavica Miladinovic. The
Kinematic Analysis of Ravigneaux Planetary Gear Set, 2016.
4. Tsai, L.-W. (1988). The kinematics of spatial robotic bevel-gear trains. IEEE
Journal on Robotics and Automation, 4(2), 150–156. doi:10.1109/56.2078 
5. Hsu, C.-H., & Lam, K.-T. (1992). A New Graph Representation for the Automatic
Kinematic Analysis of Planetary Spur-Gear Trains. Journal of Mechanical
Design, 114(1), 196. doi:10.1115/1.2916916.
6. F. Freudenstein ∗,AT Yang ‡Kinematic and Statics of a Coupled Epicyclic Spur-Gear Train
Volume 7, Issue 2 , Summer 1972 , pages 263-275
7. Mi-Ching Tsai, Cheng-Chi Huang, Bor-Jeng Lin Kinematic Analysis of Planetary
Gear System Using Block Diagrams June 2010 DOI: 10.1115/1.4001598
8. Hsieh, H.-I., & Tsai, L.-W. (1996). Kinematic Analysis of Epicyclic-Type
Transmission Mechanisms Using the Concept of Fundamental Geared Entities.
Journal of Mechanical Design, 118(2), 294. doi:10.1115/1.2826883 
9. Wang, C., & Shi, Z. Y. (2015). Accurate Model for the Minimum Volume Design
of Single Stage Spur Gear Train. Volume 10: ASME 2015 Power Transmission
and Gearing Conference; 23rd Reliability, Stress Analysis, and Failure
Prevention Conference. doi:10.1115/detc2015-46302 
10.Pennestrì, E., & Freudenstein, F. (1993). A Systematic Approach to Power-Flow
and Static-Force Analysis in Epicyclic Spur-Gear Trains. Journal of Mechanical
Design, 115(3), 639. doi:10.1115/1.2919238 
11.Chen, C., & Angeles, J. (2007). Virtual-Power Flow and Mechanical Gear-Mesh
Power Losses of Epicyclic Gear Trains. Journal of Mechanical Design, 129(1),
107. doi:10.1115/1.2359473 
12.Pennestrì, E., & Freudenstein, F. (1993). The Mechanical Efficiency of Epicyclic
Gear Trains. Journal of Mechanical Design, 115(3),
645. doi:10.1115/1.2919239 
13.Giacomo Mantriota and Ettore Pennestri, Theoretical and Experimental
Efficiency Analysis of Multi-Degrees-of-Freedom Epicyclic Gear Trains
(Received: 26 November 2001; accepted in revised form: 17 July 2002)
14.Kahraman, A., Ligata, H., Kienzle, K., & Zini, D. M. (2004). A Kinematics and
Power Flow Analysis Methodology for Automatic Transmission Planetary Gear
Trains. Journal of Mechanical Design, 126(6), 1071. doi:10.1115/1.1814388 
15.Ettore Pennestri', Pier Valentini, Dynamic Analysis of Epicyclic Gear Trains by
Means of Computer Algebra · April 2002 DOI: 0.1023/A:1015270811968 
16.Long Chang Hsieh, Hsin Sheng Lee, Teu Hsia Chen An Algorithm for The
Kinematic Design of Gear Transmission with High Reduction Ratio. January
2006 DOI: 10.4028
17.E.L. Esmail Kinematic Nomographs of Epicyclic-Type Transmission Mechanism.
Received April 2007 and accepted September 2007

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