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Procedia Engineering 150 (2016) 596 601

International Conference on Industrial Engineering, ICIE 2016

Analysis of the Efficiency of the Multipair Toothing Application in

Reduction Gearboxes of EOS Actuators
I.V. Myakutina*
Ural Federal University named after the first President of Russia B.N.Yeltsin, 19 Mira street, Ekaterinburg, 620002, Russia

Abstract

Conventionally, a one-pair toothing is used in reduction gearboxes of EOS actuators. A spring-load is applied to the teeth for the
elimination of backlashes, which causes premature wear, increased power consumption, increased weight of EOS PA (platform
actuators), etc. This study shows that the multipair toothing application allows to solve these and other problems.
2016
2016TheTheAuthors.
Authors.Published
Publishedby by Elsevier
Elsevier Ltd.Ltd.
This is an open access article under the CC BY-NC-ND license
Peer-review under responsibility of the organizing committee of ICIE 2016.
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of ICIE 2016
Keywords: gear drive; reduction gearbox; spring-load; multipair toothing; OES; wear resistance; overheat

1. Introduction

To increase the efficiency of radiation monitoring, oil and gas pipelines leaks detection, etc., the EOSs are used,
which are usually located on board of above-water, surface or air EOS carriers [1]. It is known that root mean square
error (RMS error) of SL (sight line) stabilization at high precision EOSs must not exceed the values given in [2]

V st ~ 101 sec . (1)

The first principles of high precision EOS constructions were formed in 1960s-1980s of the last century [24]. In
particular, it was assumed that RMS error of gear production accuracy is limited to [4]

* Corresponding author. Tel.: +7-909-702-0590; fax: 8-343-375-93-50.

E-mail address: buda080316@rambler.ru

1877-7058 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of ICIE 2016
doi:10.1016/j.proeng.2016.07.050
 I.V. Myakutina / Procedia Engineering 150 (2016) 596 601 597

V tooth ~ 102 sec. (2)

These backlashes are conditioned, first of all, by finite precision of gears production; secondly, these backlashes
are provided designedly to avoid gears jamming upon environment temperature changes, temperature changes
during intense EOS usage, etc. In order to provide finite dimensions of EOS platform actuators (PA) at the moment
of PA start it is assumed to be a tradition to apply the reduction gearboxes having a reduction rate as below [2]

K red . ~ 102,5 (3)

In case of non-spring-loaded PA application the stabilization error may reach large values due to high reduction
rate (3) and high idle stroke with RMS error (2) calculated for a driven gear [5]:

V st ~ 102,5 sec . (4)

Compared to RMS error (1) the error (4) is found to be unacceptable. Thus, the spring-load of traditional PA
reduction gearboxes is used [6] that unavoidably leads to EOS PA premature wear. Usually, the spring force is
chosen to be excessively high, which leads to extremely fast EOS PA reduction gearboxes premature wear. Due to
this issue, the multipair toothing is applied for reduction gearbox as well as one-pair toothing. However, the
excessively high spring load forces cause the fast premature wear in multipair toothing as well. Therefore, the wear
resistances of one-pair and multipair toothing are to be compared with optimal spring-loads of OES PA reduction
gearbox teeth.

2. Estimation of reduction gearbox multipair toothing influence on EOS PA wear resistance

It is known that the wear resistance of PA reduction gearbox teeth is defined by the total force Fc , which is
normal to interacting surfaces, and by the path length L to the worn-out condition C Fcm L [7, wherein m 1 in
case of application without a grease and m 3 in case of application with the grease, F F  F. , where F is
the interaction force of a couple of teeth, conditioned by a movement transmission, F . is the spring load force.
The most characteristic is the case of grease application m 3 . In this case the teeth wear resistance for one-pair
toothing can be determined as below:

1 F13 L1 . (5)

In case of reduction gearbox analysis a spring-load coefficient s Fspr . Fint . is used, and its optimal value is
determined according to the relation [8]

sopt | 2. . (6)

Let us compare the efficiency of one-pair and multipair EOS PA reduction gearbox toothing at the optimal values
of the spring-load coefficient (6). Fig. 1a shows one-pair toothing of reduction gearbox, where the heavy line
indicates a small driving gear  SCW  , d  external diameter of SCW . Fig. 1b shows multipair toothing of EOS
PA reduction gearbox with pinion carrier Dr , with indications as below: FCW flexible driving gear, D  driving
gear external diameter and driven gear internal diameter [9]. The arrow shows the rotation direction of external gear,
the rotation speed of which is Z .
598 I.V. Myakutina / Procedia Engineering 150 (2016) 596 601

Fig. 1. Various toothing methods in OES PA reduction gearbox

In the multipair toothing shown in Fig. 1b simultaneously interact

N 8 (7)

gears.
Each interacting gear of multipair toothing is characterized by the tooth contact which corresponds approximately to
the tooth contact of the one-pair toothing [7-9]. Thus, the wear resistance coefficient, taking into account the
expression (5), can be represented as [9]

* 3
2 F  2 L*2 , (8)

where L*2 N L2 , L2 is the path length to worn-out condition 2 , L*2 is the equivalent increase of teeth wear-out
due to simultaneous interaction of N reduction gearbox teeth,

F*2  F2 N . (9)

Benefit (loss) P in the wear resistance of multipair toothing compared to one-pair toothing can be represented as a
change of gear transmission path length until even worn-out C2 C1

P L2 L1
. (10)

In this case the input disturbance is similar, and driven gears diameters are approximately the same (Fig. 1).
Therefore, at similar spring-load coefficients s1 | s2 | s the teeth interaction forces are the same Fc 2 | Fc1 .
Taking into account the expressions (8), (9), the benefit in wear resistance can be represented as P N 2 . The
quantity of interacting teeth is usually around (7) [7-10], therefore, taking into account (10) the wear resistance
benefit is

P ~ 102 . (11)
 I.V. Myakutina / Procedia Engineering 150 (2016) 596 601 599

Thus the benefit in wear resistance of multipair toothing is by two orders of magnitude (11). This is, on the one
hand, because the teeth wear-out path increases N ~ 101 (7) times due to load distribution between teeth in multipair
toothing. And on the other hand, taking into account (8), (9) the influence of teeth interaction forces reduces N 3
times because of the above-said load distribution between teeth F*2  F2 N  .

3. Estimation of power consumption changes by EOS and EOS PA weight changes when using multipair
toothing in reduction gearbox

The power Pcons. consumed by EOS is defined by the power Pturn. , needed for EOS rotation and by EOS
coefficient of efficiency K EOS , Pcons. Pturn. K EOS . Usually the maximum power Pcons .max consumed by EOS is
estimated [2, 710] as below:

Pcons.max Pturn.max K EOS , (12)

where Pturn.max is a maximum power, needed for EOS rotation during the most dynamic input disturbances at 100%
of EOS coefficient of efficiency.
The most dynamic input disturbances are usually limited by EOS sight line (SL) speed of movement
D LS t'  t   1 rad s and by SL movement acceleration D LS "t  t   1,5rad s 2 [11-21]. With such initial data the power
needed for rotation of generic EOSs will not increase the value [17, 18]

Pturn.max  1W (13)

Let us estimate K EOS (12) for one-pair toothing of PA reduction gearbox. The EOS PA reduction gearbox with
one-pair toothing providing the reduction rate (3) usually consists of four stages. Thus, taking into account [8] the
PA reduction gearbox efficiency coefficient is

4
K1
K gear . ( s ) | , (14)
1  2 s 1  K1 

where K1 is the efficiency coefficient of one stage in EOS PA reduction gearbox with one-pair toothing without
spring-load, and which is usually

K1 | 0,8 . (15)

For the efficiency coefficient K EOS ( s ) calculation (12), it is convenient to apply the expression [8]

KEOS  s  | Kampl Kmot K gear  s  , (16)

where K ampl ,K mot  are the efficiency coefficients of the amplifier, the engine and the reduction gearbox accordingly.
Usually, K ampl K mot | 1 [2]. Taking into account (12), (14), (16) the efficiency coefficient of an EOS with one-pair
toothing

4
K1
K EOS 1 ( sopt ) | . (17)
1  2 sopt 1  K1 

Taking into account the values of (6), (15), and the expression (17)
600 I.V. Myakutina / Procedia Engineering 150 (2016) 596 601

K EOS 1 ( sopt ) | 0, 04 . (18)

Thus, the power consumed by EOS PA with one-pair toothing, taking into account the relations (12), (13) and
(18), is equal to

Pcons.max | 2 101W . (19)

For multipair toothing the reduction gearbox with reduction rate (3) usually consists of a single stage, while [7-9]

K 2 | 0,95 . (20)

A higher efficiency coefficient in multipair toothing (20) as compared to the efficiency coefficient in one-pair
toothing (15) is conditioned by the absence of misalignment between interacting gears, because in one-pair toothing
only one side of a tooth interacts simultaneously, while the two opposite symmetrical sides interact simultaneously
in multipair toothing. Furthermore, the multipair toothing has lower friction forces. Taking into account the above-
said

K2
K EOS 2 ( sopt ) | , (21)
1  2 sopt 1  K2 

According to the relations (6), (20), (21), the efficiency coefficient for multipair toothing is

K EOS 2  sopt  | 0,8 . (22)

The maximal power consumed by EOS PA with multipair toothing taking into account the relations (12), (21),
(22) can be represented as

Pcons.max 2 | 100 W . (23)

Thus, the benefit in terms of consumed power of EOS PA reduction gearbox with multipair toothing taking into
account the relations (19) and (23) is of one and a half order.
The PA weight benefit is proportional to the consumed power benefit [9]. Furthermore, as noted above for the
reduction by EOS PA gearbox (3), the single stage of multipair toothing is needed instead of four stages in case of
one-pair toothing, which provides additional four times weight benefit for PA. The resulting PA weight benefit for
multipair toothing will be of the two orders. It is worth mentioning that reduced power consumption from the values
of (19) to the values of (23) allows EOS PA to function even at very high environmental temperature T ! 400 C
[17,18].

4. Conclusions

In EOS PA, interacting gears of reduction gearboxes usually have backlashes. These backlashes are conditioned,
first of all, by finite precision of gears production, and secondly, they are provided designedly to avoid gears
jamming in reduction gearbox. To increase the stabilization precision, it is attempted to eliminate the backlashes by
spring-loading the gears, which causes fast EOS wear-out, power consumption increase, etc.
The present work shows that in case of equally optimal spring-loading the efficiency of multipair toothing in the
gearbox exceeds that of one-pair toothing by several orders of magnitude in terms of wear resistance, consumed
power, OES PA weight, and the possibility of operation at extremely high ambient temperatures.
 I.V. Myakutina / Procedia Engineering 150 (2016) 596 601 601

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