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RESEARCH PAPERS

# Kinematic and Static Analyses of Tripod Constant Velocity Joints of the Spherical End Spider Type

[+] Author and Article Information
Katsumi Watanabe1

Mechanical Systems Engineering, Yamagata University, 4-3-16 Jyounan, Yonezawa-shi, Yamagata, Japanwatakatu@yz.yamagata-u.ac.jp

Tsutomu Kawakatsu, Shouichi Nakao

Mohka Plant, Tochigi Factory,  Honda Motor Co., Ltd, 19 Matsuyama-cho, Mohka-shi, Tochigi, Japan

1

Corresponding author.

J. Mech. Des 127(6), 1137-1144 (Jan 27, 2005) (8 pages) doi:10.1115/1.1909205 History: Received December 07, 2003; Revised January 27, 2005

## Abstract

The closed-loop equations of three cylindrical rollers, the spider of three spherical ends, and the housing of the tripod constant velocity joints are deduced as the spatial mechanism. They are solved for prescribed positions of its input, and output shafts and relative motion characteristics of components are made clear. Moreover, a procedure is established for solving, simultaneously, the set of conditional equations with respect to forces and moments acting on three cylindrical rollers, the spider, and the housing, for any values of friction coefficients between cylindrical rollers and its grooves and spherical ends. The established numerical procedure simulates the normal force acting on the roller groove with a period of $π$ and the housing thrust force with a period of $2π∕3$ for given values of the joint angle. These results are inspected by experiments.

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Copyright © 2005 by American Society of Mechanical Engineers
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## Figures

Figure 1

Inner structure of the tripod constant velocity joint (TCVJ) of the spherical end spider type

Figure 2

Cross section of the TCVJ of the spherical end spider type

Figure 3

Spatial mechanism of the TCVJ of the spherical roller type

Figure 4

Kinematic model of the TCVJ of the spherical end spider type

Figure 5

Relative displacement h1 of the cylindrical roller to the housing

Figure 6

Relative displacement s1 of the cylindrical roller to the spider

Figure 7

Output angle error ε

Figure 8

Fluctuation of the joint angle Δβ

Figure 9

Change of the fluctuation range h1w with the joint angle β

Figure 10

Change of the fluctuation range s1w with the joint angle β

Figure 11

Change of the fluctuation range of εw with the joint angle β

Figure 12

Change of the fluctuation range of Δβw with the joint angle β

Figure 13

Relative rotation of the contact point between the inner cylindrical and the spherical end

Figure 14

Relative angular displacement θC of the contact point C

Figure 15

Forces and moments acting on the housing from the frame and tripod

Figure 16

Forces and moments acting on the tripod from the frame and housing

Figure 17

Normal force acting on the first roller groove FC1

Figure 18

Groove thrust force of the first roller groove Fy1

Figure 19

Housing thrust force FOy

Figure 20

Change of maximum and minimum values FC1mx,FC1mn with the joint angle β

Figure 21

Change of the fluctuation range of FOy with the joint angle β

Figure 22

Special TCVJ for measuring the normal force acting on the roller groove

Figure 23

Special TCVJ for measuring the groove thrust force

## Errata

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