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Research Papers

Kinematic and Dynamic Analyses of Tripod Sliding Universal Joints

[+] Author and Article Information
X. F. Wang

College of Electromechanical Engineering, Qingdao University of Science & Technology, 69 Songling Road, Qingdao 266061, P.R.C.mewangxf@yahoo.com.cn

D. G. Chang

College of Electromechanical Engineering, Qingdao University of Science & Technology, 69 Songling Road, Qingdao 266061, P.R.C.

J. Mech. Des 131(6), 061011 (May 21, 2009) (8 pages) doi:10.1115/1.3125882 History: Received July 19, 2008; Revised March 23, 2009; Published May 21, 2009

The kinematic and dynamic equations of the tripod sliding universal joint were established in order to understand the kinematic and dynamic properties thereof, and then the effects of the joint angle, the rotating radius of the slide rods, the length of the output shaft on the fluctuation of the joint angle, the output angle error, and the relative displacements of the slide rods were investigated. Meanwhile, the main dynamic curves were also obtained. In this work, each obtained curve is basically similar to a sinusoid. The joint angle, the output angle error, the forces or torques of two bearings of the input and output shafts as well as the load torque have a threefold frequency. The relative displacement of the slide rod to the tripod has a twofold frequency. The relative displacement of the slide rod to the hole of the input shaft and each component force acting on the tripod arms and holes of the input shaft have a simple frequency. The fluctuation amplitudes of the joint angle and relative displacements of the slide rods as well as the output angle error increase with the increase of the joint angle or the rotating radius of the slide rod. Increasing length of the output shaft decreases the fluctuation amplitudes of the joint angle and output angle error. However, the relative displacements of the slide rods hardly depend on this length.

Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Tripod sliding universal joint assembly: (1) input shaft, (2) slide rod, (3) joint bearing, (4) tripod arm, and (5) tripod

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Figure 2

Kinematic model of the TSUJ

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Figure 3

Moving cone of the output shaft

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Figure 4

Input angle of the input shaft

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Figure 5

Fluctuation Δβ of the joint angle where r=0.05 m, L=0.5 m

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Figure 6

Fluctuation Δβ of the joint angle where β=10 deg, L=0.5 m

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Figure 7

Fluctuation Δβ of the joint angle where β=10 deg, r=0.05 m

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Figure 8

Output angle error ϕo−ϕi where r=0.05 m, L=0.5 m

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Figure 9

Output angle error ϕo−ϕi where β=10 deg, L=0.5 m

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Figure 10

Output angle error ϕo−ϕi where β=10 deg, r=0.05 m

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Figure 11

Relative displacement h0 of the slide rod to the tripod where r=0.05 m, L=0.5 m

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Figure 12

Relative displacement h0 of the slide rod to the tripod where β=10 deg, L=0.5 m

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Figure 13

Relative displacement s0 of the slide rod to the input shaft where r=0.05 m, L=0.5 m

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Figure 14

Relative displacement s0 of the slide rod to the input shaft where β=10 deg, L=0.5 m

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Figure 15

Forces acting on the output shaft

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Figure 16

Forces acting on the input shaft

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Figure 17

Forces acting on the slide rod

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Figure 18

Forces at the revolute pair

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Figure 19

Forces at first hole of the input shaft

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Figure 20

Forces at second hole of the input shaft

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Figure 21

Forces at third hole of the input shaft

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Figure 22

Forces at the spherical pair

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Figure 23

Three forces in the tripod plane

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Figure 24

Three forces perpendicular to the tripod plane

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Figure 25

Load torque of the output shaft

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