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Dr P R Venkatesh
Associate Professor
Mechanical Dept
RVCE, Bangalore-560059
Introduction
Power
is
generally
transmitted
through
Shafts
1.
2.
3.
4.
5.
Torsion Equation
T G
To derive = =
J R
L
B
B'
B
B'
B
B'
B'
Rq
Rq
As Lf = Rq , f =
Shear strain in the fiber = tanf f
L
L
t
t
Also, from Hooke's law, G =
f = where t = shear stress induced
f
G
or
=
L G
R
L
(i)
Integrating the elemental torque over the area of the element, we get the
R
4
t
R
t
3
Total torque acting on the shaft T = 2p r .dr 2p
R 0
R 4
4
p R4
t pR
T
=J, polar moment of inertia of shaft.
But
2
R 2
T
T Gq
=
(ii) From (i) & (ii), = =
Torsion equation
J R
J R
L
Note:
1. Design of a shaft dimension considering the first two terms of the torsion
equation is known as strength based design, as it involves the shear stress
induced in the shaft.
2. Design of a shaft dimension considering the first & the last terms of the torsion
equation is known as rigidity based design as it involves the angular twist.
3. The diameter of the shaft may be determined using both the criteria, & the
higher of the two values is considered as the safe value of diameter.
pd4
pd4
d 4
J I xx I yy
64
64
32
Also as d 2 R, J
p (2 R) 4
32
R 4
p (d 04 di4 ) p d 04 (1 K 4 )
32
32
di
where K
(< 1) is the ratio of diameters
d0
di
do
Polar modulus
Polar modulus of a shaft is the ratio of polar moment
of inertia of the cross section of the beam about the
longitudinal axis to the radius of the shaft.
More the polar modulus, more will be the torque
pd4
J
For a hollow shaft, Polar modulus Z P =
R
32
pd3
16
2
p (d o4 di4 )
do
mm3
3
4
32 p d o (1 K ) mm3
16
Torsional Strength
Torsional strength is defined as the torque per unit
maximum shear stress. Based on this, the maximum
shear stress (induced on the outer surface)should not
exceed the allowable value.
T t Gq
From Torsion equation,
J r
l
pd4
3
T J
p
d
32
Z p Polar modulus
d
t r
16
2
Torsional Rigidity
Torsional strength is defined as the torque required to
produce unit angle of twist in a specified length of the
GJ
Torsional rigidity (TR) = =
q
L
G pd4
For a solid shaft TRsolid =
and
L 32
For a hollow shaft TRhollow
G p (d 04 di4 ) G p d 04 (1 K 4 )
=
L
32
L
32
Problem 1
Data :
p
P 1 MW 1000 KW , N 240 rpm , q 1 1
rad
180
L 15d , G 80 103 N / mm 2 , d = ?, t = ?
0
T Gq
(i) Diameter based on rigidity : Torsion equation is ,
=
J
L
39.79 106 32 80 103 1 p
3
6
i.e.
4.357
10
4
p d
15 d 180
Diameter of the solid shaft d = 165 mm
(ii) Shear stress induced in the shaft :
T t
From Torsion equation,
J R
d
T
TR
16T
2
Shear stress t
4
pd
J
pd3
32
16 39.792106
i.e.t =
= 45.11 MPa
3
165
Problem 2
Data :
p
P 30 KW , N 500 rpm , Tmax 1.2 Tmean , q 10 1
rad
180
L 1 m 1000 mm , G 81 103 N / mm 2 , t 65 MPa, d = ?
Solution : When P is in KW,
60 106 30
The torque transmitted by a shaft ; T
= 573 103 N - mm
2p 500
Tmax 1.2Tmean 1.2 573 103 687.6 10 3 N - mm
As both shear stress & the angle of twist are given, diameter of shaft
may be found using strength & rigidity criterion, & the higher value
is selected as the safe diameter.
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
T Gq
(i) Diameter based on rigidity : Torsion equation is ,
=
J
L
687.6 103 32 81 103 1 p
4
6
i.e.
4.954
10
4
p d
1000 180
Diameter of the solid shaft d = 47.2 48 mm
T t
(ii) Diameter based strength : From Torsion equation,
J R
d
T
TR
16T
16T
3
2
Shear stress t
or d
4
3
pd
J
pd
pt
32
16687.6.10 3
d =
= 37.77 38 mm
65
Dr P R Venkatesh,
RVCE,
Selecting the higher value
, dBangalore
=Mech
48Dept,mm
Problem 3
A hollow
p
Data : T 2500 Nm 2.5 10 N mm, q 1.5 1.5
rad
180
6
di
L 2 m 2000 mm, G 8110 N / mm , t 45 MPa, K
0.8
d0
3
T Gq
(i) Diameter based on rigidity : Torsion equation is ,
=
J
L
For a hollow shaft, J
p (d 04 di4 )
p d 04 (1 K 4 )
64
64
2.5 106 32
81103 1.5 p
4
6
i.e.
40.68
10
0
p d 04 (1 0.84 )
2000
180
T t
(ii) Diameter based strength : From Torsion equation,
J R
d0
T
TR
16T
16T
3
2
Shear stress t
or d 0
4
4
3
4
p d 0 (1 K ) p d 0 (1 K )
J
pt (1 K 4 )
32
1
16 2.510 3
Outside dia of shaft d 0 =
= 78.25 80 mm
4
45 (1 0.8 )
6
Problem 4
Determine the diameter of a solid circular shaft to
transmit 192 KW at 450 rpm. Allowable shear stress
my be taken as 70 MPa.
If the solid shaft is replaced by a hollow shaft of same
material & length, whose diameter ratio is 0.8, find the
percentage reduction in weight achieved and the ratio
of torsional stiffness of hollow & solid shafts.
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
1
3
16
T
16
4.074
10
d = 66.7 68 mm
p 70
pt
1
3
16 4.074 106
16T
1
1
do
d o 80 mm
4
4
p 70
(1 0.8 )
pt (1 K )
d i = K d o = 0.8 80 = 64 mm
Ws Wh
(iii) % Saving in weight =
100, where
Ws
Ws Weight of solid shaft =(C / s area ) length specific weight
Ws
d 2 l
4
Wh Weight of hollow shaft =(C / s area ) length specific weight
Wh
p
4
d o2 (1 K 2 ) l
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
100 50%
2
68
GJ
Torsional rigidity (TR) = =
q
L
G pd4
For a solid shaft TRsolid =
&
L 32
for a hollow shaft TRhollow
G p (d 04 di4 ) G p d 04 (1 K 4 )
=
L
32
L
32
1.13
4
4
(TR) solid
d
68
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
Problem 5
Specific weight of shaft material (same for solid & hollow shafts)
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
d 2 L
4
Wh Weight of hollow shaft =(C / s area ) length specific weight
Wh
d o2 (1 K 2 ) L
4
Given the weights are equal,i.e.W s = Wh
d 2 d o2 (1 K 2 ) d = d o 1 - K 2
Hence d 3 = d o3 (1 - K 2 ) 1 - K 2
(i)
(ii)
pd4
T t Gq
T J
J r
l
t r
32 p d Z
For a solid shaft,(TS) s
ps
d
t
16
2
p d o4 (1 K 4 )
p d o3 (1 K 4 )
T
32
For a hollow shaft, (TS) h
Z ph
d
t
16
0
2
where Z ps & Z ph are the Polar moduli of solid & hollow shafts.
T
(TS) h Z ph d o3 (1 K 4 )
(TS) s Z ps
d3
Putting (1 K 4 ) (1 K 2 )(1 K 2 ) & d 3 d o3 (1 K 2 ) 1 K 2 from eqn (ii),
(TS) h d o3 (1 K 2 )(1 K 2 ) (1 + K 2 )
> 1 (as K 1)
3
2
2
2
(TS) s d o (1 K ) 1 K
1- K
Hence a hollow shaft is stronger than a solid shaft of same
weight, material & length.
GJ
Torsional rigidity (TR) = =
q
L
G pd4
For a solid shaft TRsolid =
&
L 32
for a hollow shaft TRhollow
G p (d 04 di4 ) G p d 04 (1 K 4 )
=
L
32
L
32
4
(TR ) solid
d
d4
From Eqn (i ) ( same weight condition ), d d o 1- K 2 d 4 d 04 (1 K 2 ) 2
(TR ) hollow d 04 (1 K 2 )(1 k 2 ) (1 + K 2 )
Problem 6
Compare the weight, strength & stiffness a hollow shaft with
2.
Data :
Let 'd ' be the diameter of solid shaft
di
K
be the ratio of diameters for hollow shaft
do
G Rigidity modulus of the material (same for solid & hollow shafts)
L = Length of shaft (same for solid & hollow shafts)
Specific weight of shaft material (same for solid & hollow shafts)
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
d 2 L
4
Wh Weight of hollow shaft =(C / s area ) length specific weight
Wh
d o2 (1 K 2 ) L
4
Weight of hollow shaft Wh d o2 (1 K 2 )
Z ph
t
16
where Z ps & Z ph are the Polar moduli of solid & hollow shafts.
T
(TS) h Z ph d o3 (1 K 4 )
(TS) h
4
Given
d
d
,
(1
0.5
) 0.9375
o
3
(TS) s Z ps
d
(TS) s
T
GJ
Comparison of Torsional rigidity : Torsional rigidity (TR) = =
q
L
G pd4
For a solid shaft TRsolid =
&
L 32
for a hollow shaft TRhollow
G p d 04 (1 K 4 )
L
32
(TR) hollow d 04 (1 K 4 )
(TR ) hollow
4
Given
d
d
,
(1
0.5
) 0.9375
o
4
(TR ) solid
d
(TR ) solid
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
Problem 7
Data :
P 60 KW , N 210 rpm , Tmax
di 3
1.2 Tmean ,
= = 0.75
d0 4
T t
Diameter based on rigidity : Torsion equation is ,
=
J R
d0
T
TR
16T
16T
3
2
Shear stress t
or d 0
4
4
3
4
p d 0 (1 K ) p d 0 (1 K )
J
pt (1 K 4 )
32
1
16 2.7310 3
d0 =
= 70 mm & d i 0.75 70 52.5 mm
4
60 (1 0.75 )
6
T Gq
Angle of twist : Torsion equation is ,
=
J
L
2.73 106 32
84 103 q
, q 0.0605 rad
4
4
p 70 (1 0.75 )
3000
180
0
Angle of twist in degrees 0.0605
=
3
.47
p
Dr P R Venkatesh, Mech
Dept,
RVCE,
Bangalore
Problem 8
d L
2
(d o2 d i2 ) L
4
4
As the material & length is same, d 2 ( d o2 di2 )
p
(
d
d
2
p
NT
0
i )
h
t
4
4
Ph 60 Th 16d 0
(
d
0
i )
3
3
Ps 2p NTs Ts
d d0
pd
60
16
= 2.73
3
Ps
150 250 Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore
Problem 9
d o2 (1 K 2 ) L
Wh 4
d o2 (1 K 2 ) d o2 (1 0.6 2 ) 0.64d o2
2
2
2
p 2
Ws
d
d
d
d L
4
(a) Using torsional strength criterion :
(i)
p d 3 t
16
p d o3 (1 K 4 ) t
16
Wh 0.64d o2
0.64d o2
0.64 d o2
Substituting in (i),
0.702
2
2
2
Ws
d
(0.955d 0 )
0.912d o
(b) Using torsional rigidity criterio n :
For same power & rpm, torque transmitted is same,i.e. Ts Th
G p d 4 G p d o4 (1 K 4 )
4
4
4
4
d
(1
0.6
)
0.87
d
o
o d = 0.966 d 0
L 32 L
32
Wh 0.64d o2
0.64d o2
0.64 d o2
Substituting in (i),
0.686
2
2
2
Ws
d
(0.966d 0 )
0.933d o
Dr P R Venkatesh, Mech Dept, RVCE,
Bangalore