Equations for Spur Gears

by

Dr. Robert Rizza

Associate Professor
Department of Mechanical Engineering
Milwaukee School of Engineering
1025 N. Broadway
Milwaukee, WI 53202
(414) 277-7377
Fax:(414) 277-2222
Email: rizza@msoe.edu
http://people.msoe.edu/~rizza

The equations are believed to be correct. But, if you find any errors please let me know by
writing to rizza@msoe.edu.

Nomenclature
Symbol*
a
b
c
C
Cf (or ZR)
CH
CP (or ZE)
d
E
hu
ht=a+b
F
Fn
Fr
Ft
I

m
J
KB
KM (CM)
Ko
KR
KS
KT
KV
MG
mB
Mp
Mv
n
N

arm
Pb
Pc
Pd
Qv
r
t

TF
Sb
Sc
Sfb
Sfc
T
tR
Vt
YN
z
ZN

Meaning
Addendum length
Dedendum length
Clearance
Gear and Pinion center distance
Surface condition factor
Hardness factor
Elastic coefficient
Pitch diameter
Youngs modulus
Working depth
Whole depth
Face width
Transmitted load
Radial load
Tangential load
Surface Geometry factor
Pressure angle
Module
Bending Strength Geometry Factor
Rim thickness factor
Load distribution factor
Overload factor
Reliability factor
Size factor
Temperature factor
Dynamic Factor
Gear ratio (never less than 1)
Backup ratio
Contact ratio
Angular velocity ratio
Number of revolutions per minute
Number of teeth
Poisson ratio
Angular velocity
Angular velocity of the arm
Base Pitch
Circular Pitch
Diametral Pitch
Quality index
Pitch circle radii
Tooth thickness
Radii of curvature
Oil film temperature
Allowable bending stress
Allowable surface contact stress
Bending fatigue strength
Surface fatigue contact strength
Torque
Rim thickness
Velocity along the pitch circle
Stress cycle factor for bending
Length of action
Stress cycle for pitting resistance

* Subscripts p and g are used to indicate the pinion and g for some of these parameters.
2

KINEMATICS

Fundamental Relationships

out
r
N
T
1
= in = in
m A = out =
in
rout Nout
Tin
mV
d
N
Pb = Pc cos
Pc =
Pd =
N
d

mV =

m=

d
N

z=

( rp + a p ) ( rp cos )

MP =

( rg + a g ) ( rg cos )
2

Pd z
cos

MG= Mv or MA depending on which is greater than 1

C sin

Standard Gears
Tables 1, 2, 3 (Norton tables 11-1, 11-2 and 11-3, or Shigley 13-1 to 13-3)
Table 1 (Norton Table 11-1, Shigley Table 13-1): Standard Gear Parameters
Parameter
Coarse Pitch (Pd < 20)
Fine Pitch (Pd > 20)
20 or 25 degrees
20 degrees

a
1.000/ Pd
1.000/ Pd
b
1.250/ Pd
1.250/ Pd
hu
2.000/ Pd
2.000/ Pd
ht
2.250/ Pd
2.200/ Pd +0.002 in
t
1.571/ Pd
1.571/ Pd
Fillet radius
0.3000/ Pd
Not standardized
Minimum basic clearance
0.250/ Pd
0.200/ Pd +0.002 in
Minimum width of top
0.250/ Pd
Not standardized
land
c
0.350/ Pd
0.350/ Pd +0.002 in

Table 2 (Norton Table 11-2, Shigley Table 13-2): Standard Diametral Pitches
Coarse Pitch (Pd < 20)
Fine Pitch (Pd > 20)
1.25
20
1.5
24
1.75
32
2
48
2.5
64
3
72
4
80
5
96
6
120
8
10
12
14
16
18

Table 3 (Norton Table 11-3, Shigley 13-3): Standard Metric Modules

m (mm)
Equivalent Pd (1/in)
0.3
84.67
0.4
63.50
0.5
50.80
0.8
31.75
1
25.40
1.25
20.32
1.5
16.93
2
12.70
3
8.47
4
6.35
5
5.08
6
4.23
8
3.18
10
2.54
12
2.12
16
1.59
20
1.27
25
1.02

Table 4 Minimum Number of Teeth Required for Avoiding Interference in a 20 Full-Depth

Pinion and Full-Depth Gear (Norton Table 11-5).
Minimum Pinion Teeth
17
16
15
14
13

Maximum Gear Teeth

1309
101
45
26
16

Table 5 Minimum Number of Teeth Required for Avoiding Interference in a Full-Depth Pinion
and a Full-Depth Rack (Norton Table 11-4).
Pressure Angle (f)
Minimum Number of Teeth.
14.5
32
20
18
25
12

Gear Trains
1. Simple fixed Gears

out
product of the number of teeth of input gears
=
in
product of the number of teeth of output gears
2. Planetary Gears

L arm
product of the number of teeth of input gears
=
F arm product of the number of teeth of output gears

STRESSES
Transmitted Loads
Ft = Fn cos
Fr = Fn sin = Ft tan

Velocity of the Pitch Circle

dn Nn
=
(in FPM)

12 12Pd

Vt = dn
( in in/s n in rps ) (See also Norton Table 11-7)
mNn
( in m/s )

Bending Stress

FP
b = t d K o K m K v KS K B
FJ

b =

Ft
K a K m K v KS K B
FmJ

English Units

SI units

Bending Strength Geometry Factor, J

For values of J see Norton Tables 11-8 to 11-15 or Shigley Figure 14-6 below.
6

Shigley Figure 14-6.

Dynamic Factor

50 + Vt
(Vt in ft/min)
K v =

50
ForQ v 5 (Vt 2,500 ft/min (13m/s))
50 + 200Vt

(Vt in m/s)
K v =
50

For 6 Q v 11

K = A + Vt
v

A + 200Vt

Kv =

A=50+56 (1-B )

12 Q v ) 3
(
B =

(Vt in ft/min)

(Vt in m/s)

Experimental results are limited by

Vt max = A + ( Q v 3)

( in ft/min )

A + ( Q v 3)
Vt max =
200

( in m/s )

Shigley Figure 14-9 Kv versus Vt.

Load distribution factor, KM
In general keep 8/Pd < F < 16/Pd.
(Shigley equation 14-30)

K m = 1 + Cmc Cpf Cpm + Cma Ce

1 for uncrowned teeth

Cmc =
0.8 for crowned teeth
F

F 1 in
0.025

10d

0.0375 + 0.0125F
Cpf =
1 <F 17 in
10d

F
2
17 <F 40 in
10d 0.1109 + 0.0207F 0.000228F

Note for values F/(10d) < 0.05, F/(10d)=0.05 is used.

1 for straddle mounted pinion with S1 / S < 0.175

Cpm =
1.1 for straddle mounted pinion with S1 / S 0.175

Shigley Figure 14-10. Definitions of S1 and S.

C ma = A + BF + CF2

(Shigley Table 14-9 or Table 5 for values of A, B and C)

(Shigley Figure 14-11 may also be used)

Table 5 (Shigley Table 14-9) Values of A, B and C

Condition
A
B
Open gearing
0.247
0.0167
Commercial, enclosed 0.127
0.0158
units
Precision, enclosed
0.0675
0.0128
units
Extraprecision
0.0030
0.0102
enclosed gear units

C
-0.765(10-4)
-0.093(10-4)
-0.926(10-4)
-0.822(10-4)

0.8 for gearing adjusted at assembly or compatability is improved by lapping or both

Ce =
1 for all other conditions

Shigley Figure 14-11. Variation of Cma with F.

Size correction factor, KS
Most applications KS=1, for gears with large teeth use KS=1.25 to 1.5.

Rim thickness factor, KB

t
mB = R
ht
2.242

1.6 ln m

B
KB =
1.0
1.0
solid gear

m B 1.2

See also Shigley Figure 14-16

m B > 1.2

10

Shigley Figure 14-11. KB as a function of backup ratio.

Overload factor Ko
Table 6 (Ko Norton Table 11-17 not in Shigley).
Driven Machine
Driving Machine
Uniform
Moderate Shock
Uniform (electric
1.00
1.25
motor, turbine)
1.25
1.50
Light Shock
(Multicylinder
engine)
1.50
1.75
Medium shock
(Single-cylinder
engine)

Heavy Shock
1.75 or higher
2.00 or higher

2.25 or higher

Surface Stress

K m Cf
CP Ft K o K v K s
dF I

c =
Z F K K K K H ZR
E t o v s dF ZI

US units
SI units

For the value of d use the pitch diameter of the smaller of the two gears in contact.

11

Surface Geometry factor, I (or ZI)

cos sin mG

2
mG + 1

I=
cos sin mG

2
mG + 1

external gears
internal gears

Elastic Coefficient, Cp (or ZE) (in (lbf/in2) or (N/mm2))

Cp =

1
1 2 1 2
p
g

+
E p E g

See also Norton Table 11-18 (Shigley Table 14-8) for =0.3.

Surface condition factor, Cf (or ZR)

Standard values have yet to be established by AGMA.
Cf=1 for conventional manufactured gears, higher for rougher finishes.

Fatigue Strength

Sfb =

YN
St
KT KR

For values of St, see Tables 7 and 8 (Shigley tables 14-3 and 14-4).

12

Table 7 (Shigley Table 14-3) St at 107 cycles and 0.99 Reliability for Steel Gears
Material
Designation

Heat Treatment

Steel

Throughhardened
Flame or
induction
hardened with
type A pattern
Flame or
induction
hardened with
type B pattern
Carburized and
hardened

Nitralloy 135M
Nitralloy N,
and 2.5%
chrome (no
aluminum)

Nitrided
(through
hardened
steels)
Nitrided

Minimum
Surface
Hardness
Fig 14-2

Allowable Bending Stress Number St

Psi
Grade 1
Grade 2
Grade 3
Fig 14-2
Fig 14-2
-

AGMA Table
8

45,000

55,000

AGMA Table
8

22,000

22,000

AGAM Table
9

55,000

75,000

83.5 HR15N

Fig 14-3

65,000 or
70,000 (bainite
and cracks
limited to
grade 3 levels)
Fig 14-3

87.5 HR15N

Fig 14-4

Fig 14-3

Fig 14-4

13

Shigley Figure 14-2

Shigley Figure 14-3

14

Shigley Figure 14-4

Table 8 (Shigley Table 14-4) Applied Bending Strength St for Iron and Bronze Gears at 107
Cycles and 0.99 Reliability
Allowable
Material
Material
Heat Treatment
Typical
Bending Stress
Designation
Minimum
Surface Hardness Number, St (psi)
ASTM A48 gray
Class 20
As cast
5000
Class 30
As cast
174 HB
8500
Class 40
As cast
201 HB
13,000
ASTM A536
Grade 60-40-18
Annealed
140 HB
22,000-33,000
ductile (modular) Grade 80-55-06
Quenched and
179 HB
22,000-33,000
Iron
Tempered
Grade 100-70-03
Quenched and
229 HB
27,000-40,000
Tempered
Grade 120-90-02
Quenched and
269 HB
31,000-44,000
Tempered
Bronze
Sand cast
Min. Tensile
5700
strength 40,000
psi
23,600
ASTM B-148
Heat treated
Min. Tensile
Alloy 954
strength 90,000
psi

15

Stress cycle factor for bending, YN

Shigley Figure 14-14 Values of YN.

Temperature factor, KT

K T = 460 + T
F

620

TF 250 o F
TF > 250 o F

From Norton not Shigley

Reliability factor, KR
0.5 < R < 0.99
0.658 0.0759 ln(1 R)
KR =
0.50 - 0.109ln(1-R) 0.99 R 0.9999

Surface Fatigue Strength

Sfc =

Z N CH Sc
K T K R SH

16

Hardness factor, CH
a. Through hardness

CH = 1 + A ( mG 1)

HBp

0.00829
A = 0.00898
HBg

0.00698

HBp
HBg
1.2

HBp
HBg
HBp
HBg

b. Surface hardened Pinion (> 48 HRC)

CH = 1 + B 450 HBg

0.00075e0.0112R q

B=
0.00075e0.052R q

(english)
(SI)

Stress cycle for pitting resistance, ZN

See Shigley Figure 14-15

Shigley Figure 14-15.

17

< 1.2
1.7
> 1.7

Allowable Surface Contact Stress Sc

See Table 9 and 10 (Shigley Tables 14-6 and 14-7)
Table 9 (Shigley Table 14-6) Repeatedly Applied Contact Strength Sc at 107 and 0.99
Reliability for Steel Gears
Material
Heat
Minimum
Allowable Contact Stres Number Sc, Psi
Designation
Treatment
Surface
Grade 1
Grade 2
Grade 3
Hardness
Steel
Through
Fig 14-5
Fig 14-5
Fig 14-5
hardened
Flame or
50 HRC
170,000
190,000
Induction
54 HRC
175,000
195,000
hardened
180,000
225,000
275,000
Carburized AGMA Table
9
and
hardened
Nitrided
83.5 HR1 5N
150,000
163,000
175,000
(through
84.5 HR1 5N
155,000
168,000
180,000
hardened
steels)
2.5% Chrome
Nitrided
87.5 HR1 5N
155,000
172,000
189,000
(no aluminum)
Nitralloy 135M
Nitrided
90 HR1 5N
170,000
183,000
195,000
Nitralloy N
Nitrided
90 HR1 5N
172,000
188,000
205,000
2.5% Chrome
Nitrided
90 HR1 5N
176,000
196,000
216,000
(no aluminum)

18

Table 10 (Shigley Table 14-7) Repeatedly Applied Contact Strength Sc at 107 and 0.99
Reliability for Iron and Bronze Gears
Allowable
Material
Material
Heat Treatment
Typical
Bending Stress
Designation
Minimum
Surface Hardness Number, St (psi)
ASTM A48 gray
Class 20
As cast
50,000-60,000
Class 30
As cast
174 HB
65,000-75,000
Class 40
As cast
201 HB
75,000-85,000
ASTM A536
Grade 60-40-18
Annealed
140 HB
77,000-92,000
ductile (modular) Grade 80-55-06
Quenched and
179 HB
77,000-92,000
Iron
Tempered
Grade 100-70-03
Quenched and
229 HB
92,000-112,000
Tempered
Grade 120-90-02
Quenched and
269 HB
103,000-126,000
Tempered
30,000
Bronze
Sand cast
Min. Tensile
strength 40,000
psi
65,000
ASTM B-148
Heat treated
Min. Tensile
Alloy 954
strength 90,000
psi

Shigley Figure 14-5

19