Hindawi

Applied Bionics and Biomechanics

Volume 2022, Article ID 8550869, 15 pages
https://doi.org/10.1155/2022/8550869

Research Article
Design and Investigation of an Asymmetric Logarithmic Spiral
Gear Drive

Zenghuang He ,1 Xu Gong ,1 Shengping Fu ,1 Shanming Luo ,1 and Jingyu Mo1,2

1
College of Marine Equipment and Mechanical Engineering, Jimei University, Xiamen 361021, China
2
School of Aerospace Engineering, Xiamen University, Xiamen 361005, China

Correspondence should be addressed to Xu Gong; 373632159@qq.com and Shengping Fu; 7025370@163.com

Received 12 May 2022; Revised 29 July 2022; Accepted 26 October 2022; Published 26 December 2022

Academic Editor: Guowu Wei

Copyright © 2022 Zenghuang He et al. This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Sliding on gear teeth working surfaces has negative effects on the performances of gears, such as tooth surface wear, pitting, etc. In
order to reduce the gear sliding during high speed and heavy load, a new type of pure rolling gear, named as an asymmetric
logarithmic spiral gear, is designed referring to the characteristics of the Issus planthopper gear. To explore the meshing principle of
this kind of gear, the equations of the teeth surfaces, their working lines, and contact lines are all derived. Then, the tooth profile
parameters and slip rate are calculated. To ensure accurate gear engagement, the gear interferences are analyzed to build the gear
models. Subsequently, the gear is performed to simulate its working condition by the finite element method. Furthermore, the
results are compared with that of the pure rolling single arc gear. As a result, the asymmetric logarithmic spiral gear behaviors less
contact and bending stresses than the pure rolling single arc gear under the same work condition.

1. Introduction gear profiles of pure rolling contact for parallel axis trans-
mission. Tao et al. [8] studied the meshing principle and
Gear has the advantages of compact structure, smooth trans- characteristics of a new type of bihemispheric rolling gear
mission, and constant transmission ratio, so it is widely used and applied it to engineering. Song et al. [9] proposed a new
in various fields. When most gears transmit power, rolling pure rolling cycloid gear and applied it to the reducer, which
and sliding occur simultaneously on the working surfaces of could achieve higher transmission efficiency. Xue et al. [10]
the gear teeth. Sliding may cause wear, gluing, and plastic proposed a new cycloid gear transmission, which could real-
deformation. Especially under the condition of high speed ize pure rolling and improve the contact ratio and the service
and heavy load, it reduces the transmission efficiency, life. Tan et al. [11] studied the geometric principle and proces-
increases the energy consumption, shortens the life of gear, sing process of the pure rolling cycloidal gear and completed
and produces the larger vibration and noise. The lubricants the performance experiment. X. Huang and A. Huang [12]
are usually used to mitigate these problems, leading to food established the constraint conditions of the pure rolling con-
contamination in the food machinery industry. tact gear and found a variety of simple and practical tooth
In order to reduce the slip between gear teeth surfaces, profile curves of pure rolling gear. Chen et al. [13] designed
scholars have done a lot of explorations and researches on a new type of pure circular arc rolling helical gear and made a
pure rolling gears. Tan et al. [1] derived a simplified equation prototype for test. It was concluded that this kind of gear has
for the bevel gear to satisfy continuous pure rolling contact. pure rolling contact, high coincidence ratio, and large compre-
Chen et al. [2–4] introduced the geometric design, meshing hensive strength. Geng, Zhou, and Zhao [14–16] studied the
performance, and mechanical property of a new pure rolling theory and performance of pure rolling single arc gear. Based
gear. Xiao et al. [5] designed a pure rolling noncircular gear on the conjugate curve method, Liang et al. [17–20] proposed
with fewer teeth. He et al. [6] proposed a pure rolling gear a circular arc gear with a sliding rate close to zero, which is
with divisible center distance. Wagner et al. [7] proposed the approximate to pure rolling contact.
2 Applied Bionics and Biomechanics

Trochanter Trochanter

ρ = 200 μm
Δθ = 8.5 ± 1.0°

Trochanter Trochanter

Gears
100 μm
20 μm
ðaÞ ðbÞ
FIGURE 1: Natural gear of the Issus planthopper [21].

To sum up, pure rolling theory has been applied to sev- Gear pitch line
eral kinds of gears, such as bevel gear, noncircular gear, Contact points
cycloidal gear, and arc gear. The pure rolling bevel gear is
mainly used in the occasion where two axes intersect. The
Working tooth profiles
pure rolling noncircular gear is mainly applied in the occa-
sion of low speed and special periodic motion. The pure
rolling constraint equations of these two gears are obtained Transition arcs
by controlling the contact points velocity to zero. The pure
rolling cycloid gear realizes pure rolling contact under the FIGURE 2: Tooth profile of the asymmetric logarithmic spiral gear.
condition that the contact point is the velocity instantaneous
center. It is mainly used in planetary mechanism of the
reducer. The pure rolling single arc gear can realize pure and tooth profile overlapping interference. In Section 4, the
rolling by limiting the contact points to the pitch line. It is gear models are built to ensure the accurate gear engagement
mainly used in high speed and heavy load transmission with and the gear stress distributions are simulated and analyzed.
two parallel shafts. However, the machining of the pure roll-
ing single circular arc gear requires two cutting tools, so its 2. Meshing Mechanism
universality is poor.
The asymmetric logarithmic spiral gear is a kind of helical
Burrows and Sutton [21] found a pair of gears in the hip
gear and can realize bidirectional transmission. To ensure
joint of the planthopper, as shown in Figure 1. The working
the correct transmission, it is necessary to meet the contact
characteristics of the Issus planthopper gear are high speed
ratio greater than or equal to 1, the pressure angles of the
and heavy load. Referring to the tooth shape of the Issus
meshing teeth profiles are equal, and the helical angles of the
planthopper gear and the shortcoming of the pure rolling
driving and driven gears are equal in magnitude and oppo-
single arc gear, a new pure rolling gear is proposed in this
site direction. Figure 3(a) shows the meshing teeth profiles.
paper, which is designed to be used in high speed and heavy
The four working teeth profiles are represented as C1, C2, C3,
load transmission with parallel shafts.
and C4, respectively. The teeth surfaces formed by the four
As shown in Figure 2, the new gear tooth shape is asym-
teeth profiles are represented as Σ1, Σ2, Σ3, and Σ4, respec-
metrical with a convex tooth profile on one side and a con-
tively, as shown in Figure 3(b). When the gear 1 rotates
cave tooth profile on the other side based on the shape of the
counterclockwise, Σ1 and Σ2 are the conjugate teeth surfaces.
Issus planthopper gear. Since the tooth profiles of the Issus
When the gear 1 rotates clockwise, Σ3 and Σ4 are the conju-
planthopper gear are naturally generated and the logarithmic gate teeth surfaces.
helix is also a natural curve, the tooth profiles of the
Issus planthopper gear are assumed to be logarithmic helix. 2.1. Tooth Surface Equations. The formation of the tooth
Wang [22] proved the feasibility of logarithmic helices as surface Σ1 is taken as an example. The coordinate system
gear tooth profile. Therefore, the logarithmic helix is taken is established, as shown in Figure 4 [23]. S1(O1-x1y1z1) is
as the working tooth profiles of the new gear, which is named a moving coordinate fixedly connected with the gear 1.
as an asymmetric logarithmic spiral gear. S(O-xyz) is a fixed coordinate system of the gear 1 with
The rest of this paper is organized as follows: Section 2 z-axis parallel to z1 axis. Sp1(Op1-xp1yp1zp1) is a coordinate
explores the gear meshing principle, including the equations of system fixedly connected with the rack of the tooth profile
the tooth surface, working line, contact line, tooth profile C1, xp1 axis is parallel to x-axis, and zp1 axis is parallel to
parameters, and sliding ratio. Section 3 analyzes the gear inter- z-axis. Ss1(Os1-xs1ys1zs1) is a coordinate system where the
ferences, including the geometric interference, root cutting, section of the tooth profile C1 is located. o1 is the center of
Applied Bionics and Biomechanics 3

∑2
Gear 2 ∑4

C2 C4
C3
∑1
C1 ∑3

Gear 1
ðaÞ ðbÞ
FIGURE 3: Introduction of the asymmetric logarithmic spiral gear tooth profile.

Auxiliary rack direction xs1 r1et × θi

Based on the coordinate transformation principle,
x C k Equation (1) is transformed from the coordinate system
1 f1
Os1 Ss1(Os1-xs1ys1zs1) to the coordinate system Sp1(Op1-xp1yp1zp1).
xs1, xp1 ys1
Zp1 o1 The transformation matrix equation is expressed as follows:
R1φ1 w1
2 3 2 32 3
The pitch plane of Z1 xp1 1 0 0 0 xs1
Z
the oblique rack P 6 7 6 76 7
6 yp1 7 6 0 cos β sin β μ sin β 76 ys1 7
6 7 6 7 6 7:
β 6z 7 ¼ 60 −sin β μ cos β 7 6 7 ð2Þ
Zs1 O
y1 4 p1 5 4 cos β 54 zs1 5
ys1 yp1, y 1 1 0 0 0 1
Os1, Op1
x1 φ1

O1 The equation of the tooth profile C1 in the coordinate

ω1 system Sp1(Op1-xp1yp1zp1) can be obtained.

FIGURE 4: Schematic diagram of the gear 1 convex tooth surface xp1 ¼ a1 − f1 ;

formation.
yp1 ¼ −ðb1 − w1 Þ cos β þ μ1 sin β; ð3Þ
zp1 ¼ ðb1 − w1 Þ sin β þ μ1 cos β:
the convex tooth profile. β is the spiral angle of the gear 1. R1
is the radius of the pitch cylinder of the gear 1. φ1 is the gear 1
rotation angle. ω1 is the gear 1 angular rotational velocity. The expression of the contact condition can be derived
Suppose P is a helical rack, and its convex tooth surface ΣP1 is by using the instantaneous rotation axis method [23].
formed by scanning along the zs1 axis using the tooth profile
C1. The pitch plane of the helical rack P is tangent to the gear ½ðb1 − w1 Þ cos β − μ1 sin β þ R1 φ1 Š ⋅ ð−tb1 þ a1 Þ
1 pitch cylinder. ð4Þ
þða1 − f1 Þðta1 þ b1 Þ cos β ¼ 0:
When the gear 1 rotates clockwise at an angular velocity
of ω1, the pitch plane of the helical rack P is shifted along the
Equation (3) is transformed into the coordinate system
y-axis at the speed of ω1R1. In this generating motion, the
S1(O1-x1y1z1); then, the result is combined with Equation (4)
tooth surface Σ1 is formed by the tooth surface ΣP1.
to obtain the convex tooth surface Σ1 equation.
The convex tooth profile C1 equation in the coordinate
system: ða1 − f1 Þðta1 þ b1 Þ cos β
x1 ¼ ða1 − f1 þ R1 Þ cos φ1 − sin φ1;
tb1 − a1
xs1 ðθÞ ¼ a1 − f1; ða − f Þðta1 þ b1 Þ cos β
y1 ¼ ða1 − f1 þ R1 Þ sin φ1 þ 1 1 cos φ1;
ys1 ðθÞ ¼ −ðb1 − w1 Þ; ð1Þ tb1 − a1

zs1 ðθÞ ¼ 0; ða − f Þðta1 þ b1 Þ cos β
z1 ¼ ðb1 − w1 Þ sin β þ cot β 1 1
tb1 − a1

where a1 ¼ r1 et × θi1 sin θi1 , r1 is the initial circle radius of the þ ðb1 − w1 Þ cos β þ R1 φ1 :
convex tooth profile C1, t is the logarithmic helical coeffi-
ð5Þ
cient, θi1 is the angle of any point on the tooth profile C1,
b1 ¼ r1 et × θi1 cos θi1 , f1 and w1 are the offset distance of The coordinate systems in Figure 5 are established to
the tooth profile C1 center point o1 relative to the xs1 and derive the concave tooth surface Σ2 equation. S(O-xyz) is a
ys1 axes, respectively. fixed coordinate system of the gear 2 with z-axis parallel
4 Applied Bionics and Biomechanics

xs2 r2et × θi d
C2 xs
k Os2 ys2
Auxiliary rack direction f2
x o2 p k2
xs2, xp2 w2 k1
R2φ2 Z2 ys
x2 c
φ2 C3
Te pitch plane of Z C2
the oblique rack P Zp2

β O2
ω2 FIGURE 6: Coordinate transformation of concave tooth profile.
Zs2
y2
ys2
xs1 ðθÞ ¼ −ða2 − f2 Þ þ c;
Os2, Op2 O yp2, y
ys1 ðθÞ ¼ −b2 þ w2 þ d; ð8Þ
FIGURE 5: Schematic diagram of the gear 2 concave tooth surface
zs1 ðθÞ ¼ 0;
formation.

where c ¼ 2ðr1 et × θ0 sin θ0 − f1 Þ; d ¼ 2ðr1 et × θ0 cos θ0 − w1 Þ.

to z2 axis. The subscript of the expression symbol in Figure 5 The tooth surface Σ3 equation can be obtained by refer-
is changed from 1 to 2. ring to the formation of the tooth surface Σ1.
The concave tooth profile C2 equation in the coordinate
system Ss2(Os2-xs2ys2zs2) is obtained as follows: x3 ¼ ð−a2 þ f2 þ c þ R1 Þ cos φ1
ð−a2 þ f2 þ cÞðta2 þ b2 Þ cos β
xs2 ðθÞ ¼ a2 − f2 ; − sin φ1;
tb2 − a2
ys2 ðθÞ ¼ −b2 þ w2 ; ð6Þ y3 ¼ ð−a2 þ f2 þ c þ R1 Þ sin φ1
zs2 ðθÞ ¼ 0; ð−a2 þ f2 þ cÞðta2 þ b2 Þ cos β
þ cos φ1;
tb2 − a2 ð9Þ
where a2 ¼ r2 et × θi2 sin θi2 , r2 is the initial circle radius of the z3 ¼ ðb2 − w2 þ dÞ sin β

concave tooth profile C2, θi2 is the angle of any point on the ð−a2 þ f2 þ cÞðta1 þ b1 Þ cos β
tooth profile C2, b2 ¼ r2 et × θi2 cos θi2 , f2 and w2 are the offset þ cot β
tb1 − a1
distance of the tooth profile C2 center point o2 relative to the 
xs2 and ys2 axes, respectively. þ ðb2 − w2 þ d Þ cos β þ R1 φ1 :
Similarly, the tooth surface Σ2 equation can be obtained
as follows:
Similarly, the tooth surface Σ4 equation can be obtained
by referring to the formation of the tooth surface Σ2.
ða2 − f2 Þðta2 þ b2 Þ cos β
x2 ¼ ða2 − f2 − R2 Þ cos φ2 þ sin φ2 ;
tb2 − a2 x4 ¼ ð−a1 þ f1 þ c − R2 Þ cos φ2
ða − f Þðta2 þ b2 Þ cos β ð−a1 þ f1 þ cÞðta1 þ b1 Þ cos β
y2 ¼ −ða2 − f2 − R2 Þ sin φ2 þ 2 2 cos φ2 ; þ sin φ2 ;
tb2 − a2 tb1 − a1

ða − f Þðta2 þ b2 Þ cos β y4 ¼ −ð−a1 þ f1 þ c − R2 Þ sin φ2
z2 ¼ ðb2 − w2 Þ sin β þ cot β 2 2
tb2 − a2 ð−a1 þ f1 þ cÞðta1 þ b1 Þ cos β
 þ cos φ2 ;
tb1 − a1
þ ðb2 − w2 Þ cos β þ R2 φ2 : 
ða − f þ cÞðta1 þ b1 Þ cos β
z4 ¼ ðb1 − w1 þ d Þ sin β þ cot β 1 1
ð7Þ tb1 − a1

þ ðb1 − w1 þ d Þ cos β þ R2 φ2 :
As shown in Figure 6, the tooth profile C3 can be
ð10Þ
obtained by transforming the position of the tooth profile
C2 in the coordinate system Ss(Os-xsyszs). The tooth profile
C2 is symmetric along the ys axis and then is moved to the 2.2. Contact Line and Tooth Surface Working Line. The con-
tooth profile C3 with distances of c and d along the xs and ys tact line of the asymmetric logarithmic spiral gear is the
axes, respectively. The contact points of the tooth profiles trajectory of the instantaneous contact points in the fixed
C2 and C3 are k1 and k2, respectively. The line k1 k2 inter- coordinate system S(O-xyz). The tooth surface working line
sects xs axis at point p. The length of k1 p is the same as the is the collection of the theoretical contact points on the teeth
length of k2 p. surfaces in the transmission process. By deducing the equa-
The equation of the concave tooth profile C3 in the coor- tions of the contact line and tooth surface working line, the
dinate system Ss(Os-xsyszs) can be obtained as follows: pure rolling conditions can be obtained.
Applied Bionics and Biomechanics 5

O2
The tooth surface Σ1 meshing with the tooth surface Σ2 is
taken as an example. As shown in Figure 4, the tooth profile Tooth surface working
C1 in the coordinate system Sp1(Op1-xp1yp1zp1) is moved to line of the driven gear
the coordinate system S(O-xyz) with a distance of R1φ1 along
the y-axis. Then, Equation (4) can be used to obtain the Contact line
meshing surface equation. In the meshing surface equation,
when θi = θ0, the equation of the contact line of the tooth
surface Σ1 can be obtained as follows:
Tooth surface working
O1 line of the driven gear
xm1 ¼ a0 − f1 ;
FIGURE 7: Schematic diagram of the contact line and tooth surface
ða − f Þðta0 þ b0 Þ cos β working line.
ym1 ¼ 0 1 ;
tb0 − a0

ða − f Þðta0 þ b0 Þ cos β ða3 − f2 Þðta3 þ b3 Þ cos β
zm1 ¼ ðb0 − w1 Þ sin β þ cot β 0 1 xw2 ¼ ða3 − f2 − R2 Þ cos φ2 þ sin φ2 ;
tb0 − a0 tb2 − a2

ða − f Þðta3 þ b3 Þ cos β
þ ðb0 − w1 Þ cos β þ R1 φ1 ; yw2 ¼ −ða3 − f2 − R2 Þ sin φ2 þ 3 2 cos φ2 ;
tb3 − a3

ð11Þ ða − f Þðta3 þ b3 Þ cos β
zw2 ¼ ðb3 − w2 Þ sin β þ cot β 3 2
tb3 − a3

þ ðb3 − w2 Þ cos β þ R2 φ2 :
where a0 ¼ r1 et × θ0 sin θ0 ;b0 ¼ r1 et × θ0 cos θ0 .
Similarly, the equation of the contact line of the surface ð14Þ
Σ2 can be obtained.

xm2 ¼ a3 − f2 ; According to the characteristics of the pure rolling point

contact [14], the contact points are limited to the nodal line,
ða − f Þðta3 þ b3 Þ cos β
ym2 ¼ 3 2 ; which means that the distances between the contact
pffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi lines and
tb3 − a3 the nodal line are zero, that is, l ¼ x2 þ y2 ¼ 0. By com-

ða − f Þðta3 þ b3 Þ cos β bining Equations (11) and (12), the pure rolling constraint
zm2 ¼ ðb3 − w3 Þ sin β þ cot β 3 2 equations can be obtained as follows:
tb3 − a3

þ ðb3 − w2 Þ cos β þ R2 φ2 ;
f1 ¼ r1 et×θ0 sin θ0 ;
ð15Þ
ð12Þ f2 ¼ r2 et×θ0 sin θ0 :

where a3 ¼ r2 et×θ0 sin θ0 ; b3 ¼ r2 et×θ0 cos θ0 . Equation (15) is substituted into Equations (11)–(14). It
In Equation (5), when θi = θ0, the equation of the tooth can be known that the teeth surfaces working lines of the
surface working line of the tooth surface Σ1 is obtained as driving and driven gears are both helices on the teeth sur-
follows: faces. The contact lines of the driving and driven gears are
both straight lines parallel to the rotation axis of the gear
ða0 − f1 Þðta0 þ b0 Þ cos β pair, as shown in Figure 7.
xw1 ¼ ða0 − f1 þ R1 Þ cos φ1 − sin φ1 ;
tb0 − a0 2.3. Tooth Profile Parameters. Figures 8(a) and 8(b) show the
ða − f Þðta0 þ b0 Þ cos β meshing diagram of the tooth profiles C1 and C2. j is the side
yw1 ¼ ða0 − f1 þ R1 Þ sin φ1 þ 0 1 cos φ1 ;
tb0 − a0 clearance of the gear. hg1 and hg2 are the vertical distances

ða − f Þðta0 þ b0 Þ cos β from the transition points ka and kb to the nodal line, respec-
zw1 ¼ ðb0 − w1 Þ sin β þ cot β 0 1 tively. ha and hf are the tooth addendum and dedendum,
tb0 − a0
 respectively. In the coordinate systems SG1(OG1-xG1yG1zG1)
þ ðb0 − w1 Þ cos β þ R1 φ1 : and SG2(OG2-xG2yG2zG2), OG1 is the center point of the gear
tooth thickness, OG2 is the center point of the gear tooth
ð13Þ groove width, and xG1 and xG2 coincide with the pitch lines
of the gears 1 and 2, respectively. o1 and o2 are the center
points of the convex and concave tooth profiles, respectively.
In Equation (7), when θi = θ0, the equation of the tooth θ0 and θ3 are the pressure angles of the convex and concave
surface working line of the tooth surface Σ2 is obtained tooth profiles, respectively. θ0 is equal to θ3. θ1 and θ4 are the
as follows: process angles of the convex and concave tooth profiles,
6 Applied Bionics and Biomechanics

yG1 yG2 kd
kd

kb kb
hg2
ha

k OG1 OG2 xG1/xG2

ha
kc f1
hg1
hf f2
θ0(θ3) O1 θ2
ka W1
θ0
kc
j/2 O2 θ3
W2 ka θ1 θ5 O1
θ4
O2

ðaÞ ðbÞ
FIGURE 8: Meshing profiles of the asymmetric logarithmic spiral gear.

TABLE 1: Calculation formulas of the tooth profile parameters.

Parameter Computational formula
À Á
Process angle of convex tooth profile θ1 θ1 ¼ arc sin  r1 et × θ0 sin θ0 − hg1 =r1 et × θ0
Terminal angle of convex profile θ2 θ2 ¼ arc sin ðha þ f1 Þ=r1 et × θ2
Process angle of concave profile θ4 θ4 ¼ arc sin ðr2 et × θ3 sin θ3 − ha Þ=r2 et × θ4
À Á
Terminal angle of concave profile θ5 θ5 ¼ arc sin hg2 þ f2 =r2 et × θ5
Gear tooth thickness s s ¼ 2ðr1 et × θ0 cos θ0 − w1 Þ
Space width e e¼sþj
Arc radius at the bottom of convex tooth profile rg1 rg1 ¼ r1 et × θ1 sin θ1 þ hf − f1
À Á
Arc radius at the bottom of concave tooth profile rg2 rg2 ¼ hf − r2 et × θ5 sin θ5 þ f2 =ð1 − cosðπ=2 − θ5 ÞÞ

TABLE 2: The logarithmic helical parameters range.

Parameter Computational formula
Minimum initial circle radius of the concave profile r2 min r2 min ¼ ha =et × θ3 sin θ3
Maximum initial circle radius of the concave profile r2 max r2 max ¼ 0:645mn =ðet × θ4 cos θ4 − et × θ3 cos θ3 Þ
Minimum initial circle radius of the convex profile r1 min r1 min ¼ ð f2 − r2 et × θ4 sin θ4 Þ=et × θ0 sin θ0
Maximum initial circle radius of the convex profile r1 max r1 max ¼ 0:895mn =ðet × θ2 cos θ2 − et × θ0 cos θ0 Þ

respectively. θ2 and θ5 are the terminal angles of the convex ∑2 ∑1

and concave tooth profiles, respectively.
According to the geometric relationship, the calcula-
tion formulas of the tooth profile parameters are shown
K1
in Table 1.
ΔS1
The parameters r1, r2, and t of the logarithmic helical K2
ΔS2 K
can be selected in an infinite number of ways, which lead to
the uncertainty of the angles θ1 and θ5. So, it is important
to determine the logarithmic helical parameters. According
to the design principle of gear tooth profile [24], the loga-
rithmic helical parameter ranges can be calculated as in
Table 2. FIGURE 9: Slide diagram of tooth surfaces [20].
2.4. Sliding Ratio. It is assumed that the initial contact
points of the tooth surfaces Σ1 and Σ2 are K1 and K2, respec- point passing through the tooth surface Σ1 is S1. The arc
tively, as shown in Figure 9. After m time, the tooth surfaces length of the contact point K passing through the tooth sur-
Σ1 and Σ2 are tangent at K. The arc length of the contact face Σ2 is S2.
Applied Bionics and Biomechanics 7

Then, the slip rates of the tooth surfaces Σ1 and Σ2 can be dS2 dS1
calculated, respectively, as follows: ΔS2 − ΔS1 dm − dm dS2 − dS1
η2 ¼ lim ¼ ¼ ; ð17Þ
ΔS2 →0 ΔS2 dS2 dS2
dS1 dS2 dm
ΔS1 − ΔS2 dm − dm dS1 − dS2
η1 ¼ lim ¼ ¼ : ð16Þ pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ΔS1 →0 ΔS1 dS1 dS1 where dS1 ¼ dx12 þ dy12 þ dz12 dm; dS2 ¼ dx22 þ dy22 þ dz22 dm.
dm The values of the gear slip rate can be obtained from the
tooth surface working line equations [20]. Then, Equations
(18) and (19) can be obtained by Equations (13) and (14).

sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 
ða0 − f1 Þðta0 þ b0 Þ cos β 2
dS1 ¼ ða0 − f1 þ R1 Þ2 þ þ ðR1 cot βÞ2 ⋅ ω1 dm: ð18Þ
tb0 − a0

sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 2 ffi
ð a − f Þ ð ta þ b Þ cos β
dS2 ¼ ða3 − f2 − R2 Þ2 þ 3 2 3 3
þ ðR2 cot βÞ2 ⋅ ω2 dm: ð19Þ
tb2 − a2

By combining Equations (18) and (19) with Equation (15), in Figure 10. If the guide vector is zero, the conditional
dS1 ¼ dS2 can be obtained. The sliding rates of the two formula of the singular point is established. The boundary
meshing teeth surfaces are zero, which verify the gear pure equations of gear root cutting are obtained by excluding the
rolling contact. singular points on the tooth surface.
The following boundary equations can be derived
3. Interference Analysis by referring to the root cutting conditions of the circular
arc gear [23]:
When designing an asymmetric logarithmic spiral gear, it
is easy to interfere if the tooth profile parameters are deter-
cos θix ¼ 0   ðx ¼ 1; 2Þ: ð21Þ
mined without rules. Although it is possible to establish the
gear model to distinguish the gear without interference, a
great deal of work will be done in this way. Therefore, the 0   1
geometric interference and root cutting conditions of the Rx fx
gear are derived to obtain the allowed range of θ1 and θ5. B sin4  θ ix þ − sin3  θ ix C
B rx et × θi sin2  β rx et × θi C
Then, the overlapping interference of the end face profile B C
@ fx2 fx A; ð22Þ
is examined. − cot2  β þ cot2  β sin θix
ðrx e Þ
t × θix 2
rx e t × θix

3.1. Geometric Interference of Tooth Profile. As shown in ¼ 0  ðx ¼ 1; 2Þ

Figure 8, when the concave and convex tooth profiles are
meshing, for avoiding geometric interference, hg1 and hg2
should be greater than ha. The equations of the geometric where the subscript x(1, 2) in the formulas represents the
interference condition are derived. convex and concave tooth profiles of the asymmetric loga-
rithmic spiral gear. Aiming at the concave surface, θi2 should
be replaced by –θi2.
r2 et × θ5 × sin θ5 − f2 > r1 et × θ2 × sin θ2 − f1; The solution of Equation (22) can be obtained by New-
ð20Þ ton iteration [23].
f1 − r1 et × θ1 sin θ1 > f2 − r2 et × θ4 sin θ4 :
3.3. Profile Overlapping Interference. As shown in Figure 11(a),
In the gear design process, when the basic parameters the coordinate system Sg(O1-xgyg) is setup. The gear 1 center
ha, hf, r1, r2, t, θ0, and θ3 are given in Table 1, the angles point O1 is taken as the origin of the coordinate system
θ2 and θ4 can be solved. By Equation (20), the ranges Sg(O1-xgyg). xg axis coincides with the centerline of the end
of the angles θ1 and θ5 without geometric interference face tooth thickness of tooth a. yg axis is perpendicular to
are calculated. xg axis. It is assumed that the gear 1 is fixed and the gear
2 rotates counterclockwise around the gear 1. According to
3.2. Root Cutting. The tangent direction of any point K on the principle of gear relative motion, the tooth b endpoint AB1
the surface along any curve L on the surface is expressed encloses curve σ1. If this curve σ1 intrudes into the tooth of a
as drk =dm ¼ ∂ru =∂u ðdu=dmÞ þ ∂rv =∂v ð∂v=dmÞ, as shown convex tooth profile, the interference will occur. As shown in
8 Applied Bionics and Biomechanics

ru × rv ru drk
rv
K

u line
Z
L line v line
O
y

FIGURE 10: The guide vector of the surface.

yg Gear 1 Gear 2 yg Gear 2

Gear 1
Tooth b Tooth a
RP1 Tooth b
σ1 AB1 ϕ2 θσ2

O1 xg
O1 xg AB2
ϕ1 θσ1 σ2
RP2 Tooth c
Tooth c
Tooth a

ðaÞ ðbÞ
FIGURE 11: Interference diagram of the tooth profile end points.

yg Tooth a Gear pitch line Æðrx etθix ⋅ cos θix − rx etθ0 ⋅ cos θ0 Þ þ s1 =2

RPx ¼   ðx ¼ 1; 2Þ;
RP1 sin φx ⋅ cos β
θi1 θ
0
ϕ1 ð24Þ
O1 ϕ2 xg
RP2 where the subscript x(1, 2) in the formula represents the
θ0
θi2 convex and concave tooth profiles. When x = 1, the sign is
R1 positive and when x = 2, the sign is negative.

FIGURE 12: Schematic diagram of polar coordinates of tooth a. 3.3.2. Polar Coordinate Equations of the Curves σ1 and σ2. As
shown in Figure 13, X1 coincides with the centerline of the
Figure 12, it is assumed that the polar coordinate of any point end face tooth thickness of tooth a and X2 coincides with
on the convex tooth profile of tooth a is (RP1, Φ1). The polar the centerline of the end face tooth thickness of tooth b. The
coordinate of any point on the curve σ1 with the same radius is position of the centerlines X1 and X2 is denoted by the angles
(RP1, θσ1). If θσ1 < Φ1. profile overlapping interference occurs. δ1 and δ2, respectively. Figure 13(a) shows the state of the
Figure 11(b) shows the clockwise rotation of the gear 2 gear 2 rotating counterclockwise. Figure 13(b) shows the
around the gear 1. When Figure 11(b) is compared with state of the gear 2 rotating clockwise.
Figure 11(a), the subscript of the parameters changes from 1 to According to the law of sine and cosine and the gear
2. Similarly, if θσ2 < Φ2, profile overlapping interference occurs. meshing principle [25], the gear angular position relation
can be known. Then, θσ1 and θσ2 can be expressed as follows:
3.3.1. Polar Coordinate Equation of the Tooth a Profiles of the
Gear 1 on the End Face. The equations for ys1 in Equations (1) 0 pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 1
4a2 R2Bx − ða2 þ R2Bx − R2Px Þ2
and (8) are divided by cos β, then Equations (1) and (8) B arcsin⁡ þ C
B 2aRPx C
become the end face tooth profile equations. The polar coor- θσx ¼B   C   ðx ¼ 1; 2Þ;
@ z2 a2 þ R2Bx − R2Px ðs1 þ s2 Þ A
dinate expressions of the convex and concave tooth profiles of ⋅ arccos⁡ − θBx þ
z1 2aRBx mn z 1
tooth a on the end face can be obtained as follows:
ð25Þ
φx ¼ arctan⁡
Æðrx etθix ⋅ cos⁡θix − rx etθ0 ⋅ cos⁡θ0 Þ þ s1 =2
  ðx ¼ 1; 2Þ: where a is the center distance of the gear pair. The parame-
ðR1 þ rx etθix ⋅ sin⁡θix − rx etθ0 ⋅ sin⁡θ0 Þ ⋅ cos⁡β
ters RB1, RB2, θB1, and θB2 can be known from the geometry
ð23Þ of the gear 2, as shown in Figure 14.
Applied Bionics and Biomechanics 9

AB1
X2 O1 O2
Tooth b δ1 δ2

θB1 X1 RB2
RP1 RP2
θσ1 θσ2
X1 RB1 θB2
δ2 Tooth c
δ1
O1 O2 X2 AB2

ðaÞ ðbÞ
FIGURE 13: Relative position of the tooth profiles during the gear transmission.

Tooth b θB1
AB1
RB1 O2
RB2
AB2

Tooth c θB2

FIGURE 14: Geometric parameters of gear 2.

TABLE 3: Basic parameters of the asymmetric logarithmic spiral gear.

Parameter Value Parameter Value
Number of teeth z1/z2 42/42 Gear tooth thickness s (mm) 4.62
Normal module mn (mm) 3 Space width e (mm) 4.8
Tooth width b (mm) 44 Standard pitch diameter d (mm) 133.0008
Spiral angle β (°) 18.67 Tip diameter da (mm) 135.4008
Pressure angle θ0/θ3 (°) 24 Root diameter df (mm) 129.4008
Center distance a (mm) 133.0008 Tooth addendum ha (mm) 1.2
Side clearance j (mm) 0.18 Tooth dedendum hf (mm) 1.8

4. Modeling and Stress Analysis In Table 5, θ1 = 5° and θ5 = 37° are chosen for modeling
and interference analysis.
4.1. Basic Parameters. The basic parameters of the asymmet- The above parameters are substituted into Equations
ric logarithmic spiral gear are shown in Table 3. (23)–(25). Then, the change of the angles θσ1 and Φ1 with
To avoid interference, the logarithmic helical coefficient the convex tooth profile angle are plotted, as shown in
should be less than zero. So, choose the logarithmic helical Figure 15(a). The change of the angles θσ2 and Φ2 with
coefficient of −0.0025. By substituting the known parame- the concave tooth profile angle are plotted, as shown in
ters into the calculation formulas in Table 2, the value Figure 15(b). It is known that the angles θσ1 and θσ2 are
ranges of the parameters r1 and r2 can be calculated. Refer- greater than the angles Φ1 and Φ2, respectively. Thus, the
ring to the pure rolling single arc gear [16], r1 = 1.4 mn tooth profiles on the end face of the gears do not interfere.
is selected. In order to reduce the tooth surface contact
stress, the difference between r1 and r2 should be kept as 4.3. Establishment of the Gear Models. The single-tooth
small as possible without interference. Using the method model is obtained by sweeping the tooth profiles of both
of judging the profile overlapping interference, r2 = 2r1 is end faces along the helical lines, as shown in Figures 16(a)
selected. The other parameters of the tooth profiles can and 16(b). The complete gear model can be established by
be obtained by Table 1 and Equation (15). θ1 and θ5 are array method.
still unknown. Therefore, the tooth profile parameters are
selected as described in Table 4. 4.3.1. Verification of the Noninterference Model. Several
meshing teeth are selected for interference detection under
4.2. Determination of Unknown Parameters. According to 100 Nm load. As can be seen from Figure 17, there are two
Equations (20)–(22), the ranges of the angles θ1 and θ5 with- contact points between the two gears and no interference
out geometric interference and root cutting can be obtained, occurs elsewhere. Therefore, the above selected gear param-
as shown in Table 5. eters meet the requirements.
10 Applied Bionics and Biomechanics

TABLE 4: The parameters of the logarithmic spiral tooth profile.

Parameter Numerical value of convex tooth profile Numerical value of concave tooth profile
Convex and concave tooth profile initial
4.2 8.4
circle radius r1/r2 (mm)
−3
Logarithmic screw coefficient t −2.5 × 10 −2.5 × 10−3
Convex and concave tooth profile process
– 14.4189
angle θ1/θ4 (°)
Convex and concave profile termination
49.1265 –
angle θ2/θ5 (°)
Lateral offset of logarithmic spiral tooth
1.3034 4.8269
profile center w1/w2 (mm)
Longitudinal offset of logarithmic spiral
1.6088 3.2176
tooth profile center f1/f2 (mm)

TABLE 5: The ranges of the angles θ1 and θ5.

Parameter Angle range
Process angle convex tooth profile θ1 (°) (0, 5.6657)
End angle of concave profile θ5 (°) (35.0327, 41.5016)
Angle interference judgment value (°)
Angle interference judgment value (°)

25 25

20 20

15 15 θσ2
θσ1
10 10 ϕ2
ϕ1
5 5

0 0
10 15 20 25 30 35 40 45 15 20 25 30 35
Angle change of convex tooth profile (°) Angle change of concave tooth profile (°)
ðaÞ ðbÞ
FIGURE 15: Judgment of the end face tooth profile interference.

ðaÞ ðbÞ
FIGURE 16: Single tooth formation process of the asymmetric logarithmic spiral gear.

4.3.2. Verification of the Pure Rolling Meshing. As shown to Equations (16) and (17). Therefore, the gear belongs to
in Figure 18, several meshing teeth are selected to verify pure rolling meshing.
the pure rolling meshing without load. The tooth surface
working lines and contact lines are generated according to 4.4. Simulation Stress Analysis
Equations (11)–(14). It can be obtained from the measure- 4.4.1. Simulation Setup. The models established above are
ment command that ΔS1 = ΔS2 = 45.8143 mm, so the gears imported into the finite element software. In grid division,
sliding rates of two meshing surfaces are both zero according hexahedral grid is adopted, the grid of the gears is set as
Applied Bionics and Biomechanics 11

Contact point
Contact point

Contact point
Contact point

ðaÞ ðbÞ
FIGURE 17: The gears at different turning angles under load: (a) 0°; (b) 10°.

The tooth surface working lines The tooth surface working lines

Contact point
Contact point
The overlapping contact lines
The overlapping contact lines
ðaÞ ðbÞ
FIGURE 18: The gears at different turning angles without load: (a) 0°; (b) 10°.

A Fixed support A
B Joint moment: 1e + 0.05 Nmm

The driving gear center

ðaÞ ðbÞ
FIGURE 19: The finite element setting of the asymmetric logarithmic spiral gear.

1 mm, and the grid of the contact teeth surfaces is separately TABLE 6: The grid of the contact teeth surfaces and corresponding
encrypted, as shown in Figure 19(a). In load application, maximum contact stresses.
torque is applied to the driving gear. The driven gear is fixed,
as shown in Figure 19(b). The material of the gear is steel The grid of the contact teeth The maximum contact stress
surfaces (mm) value (MPa)
with Young’s modulus E ¼ 2:09 × 105 MPa and Poisson’s
ratio μ ¼ 0:3. The input torque is set as 100 Nm. 0.4 577.37
The grid of the contact teeth surfaces is separately 0.3 749.85
encrypted as 0.4, 0.3, 0.2, and 0.1 mm. The corresponding 0.2 760.33
maximum contact stresses are obtained by simulation, as 0.15 762.43
shown in Table 6. 0.1 763.11
As can be seen from Table 6, when the grid of the contact
teeth surfaces changes from 0.15 to 0.1 mm, the maximum
contact stresses of the teeth surfaces change from 763.02 to
763.11 MPa, and the change rate of the maximum contact selected and the same simulation parameters are chosen.
stress is 0.09%. Therefore, the grid of the contact teeth sur- Then, the gears stress distributions at the tooth width center
faces is separately encrypted as 0.15 mm. are obtained, as shown in Figure 20.
As can be seen from Figure 20, the maximum contact
4.4.2. Contact Stress. The pure rolling single arc gears with stress of the asymmetric logarithmic spiral gear is
the same size as the asymmetric logarithmic spiral gears are 757.28 MPa, which occurs on the driven gear. The maximum
12 Applied Bionics and Biomechanics

757.28 Max
673.14 762.95 Max
589 678.17
504.86 593.4
420.71 508.63
336.57 423.86
252.43 339.09
254.32
168.29
84.143 169.54
84.772
0.00071065 Min
0.00013575 Min
ðaÞ ðbÞ

809.25 Max 796.59 Max

719.34 708.08
629.42 619.57
539.5 531.06
449.58 442.55
359.67 354.04
269.75 265.53
179.83 177.02
89.917 88.511
0.00052756 Min
0.00018985 Min
ðcÞ ðdÞ
FIGURE 20: Contact stress: (a) and (b) are the driving and driven gears of the asymmetric logarithmic spiral gear, respectively; (c) and (d) are
the driving and driven gears of the pure rolling single arc gear, respectively.

1,000
Maximum contact stress (MPa)

950

900

850
k1
800

750

700
0 2 4 6 8 10 12
Different rotation angles of gears (°)

Asymmetric logarithmic spiral gear θ0

Pure rolling single arc gear
O
FIGURE 21: Change of the maximum contact stress at different angles
of the gears. Asymmetric logarithmic spiral gear
Pure rolling single arc gear
contact stress of the pure rolling single arc gear is FIGURE 22: Comparison of the gears tooth shape.
809.25 MPa, which occurs on the driving gear.
In order to understand the change of the maximum con-
tact stress during the gears rotation, finite element analysis is same pressure angle θ0. On the premise of noninterference,
carried out on some positions of the gears rotation. The the difference of the meshing teeth profiles curvature radius
image drawn from the results is shown in Figure 21. of the asymmetric logarithmic spiral gears is smaller, so the
It can be seen from Figure 21 that the maximum contact maximum contact stress of the asymmetric logarithmic spi-
stress of the asymmetric logarithmic spiral gear is lower than ral gear is lower than that of the pure rolling single arc gear.
that of the pure rolling single arc gear. When the rotation
angle is zero, the gear contacts at the end face, and the 4.4.3. Bending Stress. The bending stresses of these two gears
maximum contact stress is larger than that of the other rota- are extracted by path selection when the gears contact at the
tion angles of the gears. center of tooth width, as shown in Figure 23.
As shown in Figure 22, the teeth profiles slope of the As can be seen from Figure 23, the maximum bending
asymmetric logarithmic spiral gears contact point k1 are stress of the asymmetric logarithmic spiral gear is 162.82 MPa
smaller than that of the pure rolling single arc gears at the and that of the pure rolling single arc gear is 169.88 MPa. The
Applied Bionics and Biomechanics 13

162.82 Max
144.75
2 119.27 Max 2
126.68
106.03
108.61
92.783
90.534
1 79.54
72.461
66.297
54.389
53.055
36.317
39.812
18.244 1
26.57
0.17174 Min
13.327
0.084805 Min

ðaÞ ðbÞ

169.88 Max 99.756 Max

151.01 88.678 1
132.15 1
77.601
113.28
66.523
94.421
55.446
75.558 2
44.368
56.694
33.291 2
37.831
22.213
18.967
0.10339 Min 11.136
0.058201 Min

ðcÞ ðdÞ
FIGURE 23: Bending stress: (a) and (b) are the driving and driven gears of the asymmetric logarithmic spiral gear, respectively; (c) and (d) are
the driving and driven gears of the pure rolling single arc gear, respectively.

400 Gear pitch line

Maximum bending stress (MPa)

350
k1
300

250

200

150
Asymmetric logarithmic spiral gear
100 Pure rolling single arc gear
0 2 4 6 8 10 12
Different rotation angles of gears (°) FIGURE 25: Comparison of the gears tooth shape.
Asymmetric logarithmic spiral gear
Pure rolling single arc gear As shown in Figure 25, comparing with the pure rolling
FIGURE 24: Change of the maximum bending stress at different single arc gear, the root thickness of the asymmetric logarith-
angles of the gears. mic spiral gear increases, so the maximum bending stress is
lower than that of the pure rolling single arc gear.
In summary, the asymmetric logarithmic spiral gear
maximum bending stress of these two gears occurs on the shows lower maximum contact and bending stresses than
driving gear. that of the pure rolling single arc gear.
Similarly, in order to understand the change of the max-
imum bending stress of the gears rotation, finite element 5. Conclusions
analysis is carried out on some positions of the gears rota-
tion. The image drawn from the results is shown in Figure 24. In this paper, a new type of pure rolling gear, named as an
It can be seen from Figure 24 that the maximum bending asymmetric logarithmic spiral gear, is proposed by referring
stress of the asymmetric logarithmic spiral gear is lower than to the tooth shape of the Issus planthopper gear. The main
that of the pure rolling single arc gear. conclusions of this paper can be drawn as follows:
14 Applied Bionics and Biomechanics

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