Swinburne University of Technology

(Sarawak Campus)
Faculty of Engineering and Science

HES5310
Machine Dynamics 2
Lab 2 Report: Epicyclical Gear Train System
Lecturer: Dr. Samer Yahya

Group Members:
Aminu Ismaila Ibrahim (4216997)
Ammar Baig (4218930)

EPICYCLIC GEAR SYSTEM

Objective:
Experiment 1:
1.
To understand the gear system.
2.
To understand the epicyclic gear system.
3.
To understand the working principle of epicyclic gear system.
4.
To calculate gear ratio of the epicyclic gear system.

1.
2.
3.
4.
5.

Experiment 2:
To determine the input power and output power of the epicyclic gear system.
To determine the power loss of the epicyclic gear system.
To measure the different stage epicyclic gear systems speed output.
To measure the output torque generated by the epicyclic gear system.
To calculate the epicyclic gear system efficiency.
Theory:
Epicyclic gearing also called as planetary gearing. It is a gear system that consists
of one or more outer gear (planet gear) rotating about a central (sun gear). The planet
gear are mounted on a moveable arm (carrier) which itself may rotate relative to the sun
gear. Epicyclic gearing systems may also incorporate the use of an outer ring gear or
annulus, which meshes with the planet gears.

Figure 1 show an example of epicyclic gearing. It is used to increase output speed. The
planet gear carrier is driven by an input torque. The sun gear provides the output torque,
while the ring gear is fixed.
Gear ratio:
The gear ratio in an epicyclic gearing system can be different by the design of the gear
teeth and the ways of input rotation to the gear. The three basic components of the
epicyclic gear are:

1.
2.

Sun: The central gear

Planet carrier: Holds one or more peripheral planet gears, of the same size,
meshed with the sun gear
3.
Annulus: An outer ring with inward-facing teeth that mesh with the planet gear or
gears
In many epicyclic gearing systems, among the three basic components, one component is
held stationary; one component is input, provide power to the system and last component
is output, receive the power from the system. The ratio of input rotation to output rotation
is dependent upon the number of teeth in each gear, and upon which component is held
stationary.
One situation is when the planetary carrier is held stationary, and the sun gear is used as
input. In this case, the planetary gears simply rotate about their own axes at a rate
determined by the number of teeth in each gear. If the sun gear has S teeth, and each
planet gear has P teeth, then the ratio is equal to -S/P. This rotation of the planet gears can
inturn drive the annulus, in a corresponding ratio. If the annulus has P teeth, then the
annulus will rotate by P/A turns for each turn of the planet gears.
In summarize:
1.
One turn of the sun gear results in - S / P turns of the planets
2.
One turn of a planet gear results in P / A turns of the annulus
3.
One turn of the sun gear results in S / A turns of the annulus
One situation is when the annulus may also be held fixed, with input provided to the
planetary gear carrier; output rotation is then produced from the sun gear. This
configuration will produce an increase in gear ratio, equal to 1+A/S.
These are all described by the equation:
(2+n)a + 2s 2(1+n) c = 0
Where n is the form factor of the planetary gear, defined by: n = Ns/Np

For the case where the annulus is held stationary while the sun gear is used as an input
and the planet carrier as an output, the gear ratio in this case will be 1/(1+A/S). This is the
lowest ratio obtainable with an epicyclic gear train. This type of gearing is normally used
in tractors and construction equipment in order to have a higher torque provided to the
drive wheels. More planet and sun gear units can be placed in series in the same ring gear
housing (where the output shaft of the first stage becomes the input shaft of the next stage)
providing a larger (or smaller) gear ratio. This is the way some automatic transmission
work.

A Spring scale

Pulley & belt

C
D
E

3rd stage epicyclic gear train

2nd stage epicyclic gear train
1st stage epicyclic gear train

F
G

Inductive sensor
Main power switch

H
I

Motor speed controller

Digital torque meter

J
K

Motor speed meter

1st stage speed meter

Loading nut

Equipment & Accessories:

1.
LS - 12097 Motorized Epicyclic Gear Train.
2.
Stop Watch.
Safety & Precaution:
1.
Keep body parts and all objects away from the moving parts in the system.
2.
Do not attempt to change any setting of the digital meters.
3.
Do not impact the load cell.
4.
Ensure the belt if properly sit on the pulley and tighten to the spring scales.
5.
Stop the apparatus immediately if the gear system does not move when the motor
is running.
Experimental Procedure:
Experiment 1:
1.
The apparatus is placed on a level table. The adjustable leveling feet is adjusted if
necessary.
2.
The epicyclic gear system is observed and the components required to compute an
epicyclic gear system is identified.
3.
Identify which is sun gear, which is planetary gear and which is annulus (ring
gear).
4.
A brief sketch of an epicyclic gear system is sketched.
5.
The advantages and disadvantage of the epicyclic gear system is stated in the
discussion. And, the reason why sometimes multistage epicyclic gear system is
needed is being discussed.
6.
The application of an epicyclic gear system is stated.
7.
From the data given, calculate the gear ratio for the following:
NSun / NPlanetary
NSun / NRing
NPlanetary / NRing
Experiment 2:
1. Ensure the belt is sat properly on the pulley (B) and tighten to the spring scales (A).
15 kg is applied to each of the spring load by turning the loading nut (L) provided.
2. The main switch (G) of the apparatus at the control panel.
3. Ensure all the digital meters are working in order. The UP button is pressed to tare
zero the speed and torque digital meter (I, J, K). All the maximum and minimum
value of the meters is cleared by pressing the max/min button for 3 second.
4. The geared motor is switched ON and the speed of the motor is slowly increased to
the 35rpm by turning the speed knob of the motor speed controller (H). The motor
speed is shown on the motor speed meter (J). The reading is stated down.
5. Also, the stage 1st ring gear speed is stated down by taking the reading from the
speed meter (K).
6.
The total number of cycle of the 2nd stage ring gear output speed (D) is calculated.

7.
8.

9.

10.

11.
12.

The time taken to complete the total number of cycle is state down by using a stop
watch. (Reminder: Take few set of reading to achieve better average time).
Step 6 is repeated for the 3rd stage ring gear output speed (C).
The torque reading from the digital torque meter (I) is stated down. The torque
reading will be fluctuated. The max/min button is pressed to obtain the maximum
torque reading. The reading is stated down to the table provided.
From the spring scale (A), the force generated is measured. Take the different
between the maximum and minimum value as the force reading. The reading is
recorded to the table provided.
Step 5 to 11 are repeated by using different type of input speed (i.e 45, 55, 65
rpm). (Note: Please reset the maximum value for the torque meter by pressing the
max/min button for 3 seconds.)
All the tables provided are computed.
The input and output torque of the system as well as the input and output power of
the system is compared.

Results:
Calculation of power input to the epicyclic gear system
Motor Speed Torque
1st Stage Ring Load Output Motor Angular Power
(rpm)
Input (Nm) Gear Speed (rpm) (kg)
Speed (rad/s)
Input
35
0.8
10
10.5
3.6652
2.93216
44
0.8
13
10.5
4.6077
3.686
56
0.8
17
10.75
5.8643
4.691
65
0.72
20
11
6.8068
4.901
Sample calculation FOR 35 rpm:
Motor Angular Speed =
=
Power Input =
=
=
Sample calculation for 44 rpm:
Motor Angular Speed =
=
Power Input =
=
=

3.6652
Torque Input
0.8 * 3.6652
2.93216 W

4.6077 rad/s
Torque Input
0.8 * 4.6077
3.686 W

Motor Angular Speed

Motor Angular Speed

Sample calculation for 56 rpm:

Motor Angular Speed =
=
Power Input =
=
=
Sample calculation FOR 65 rpm:

5.8643 rad/s
Torque Input
0.8 * 5.8643
4.691 W

Motor Angular Speed

Motor Angular Speed

=
=
6.8068
Power Input =
Torque Input Motor Angular Speed
=
0.72 * 6.8068
=
4.901 W
nd
Calculation for the 2 stage ring gear speed (rpm)
Motor Speed Number
of Time (s)
2nd Stage Ring Gear Angular Speed
(rpm)
Cycle
Speed (rps)
(rad/s)
35
1
64
0.0156
0.09817
44
1
50
0.02
0.1257
56
1
40
0.025
0.157
65
1
33
0.0303
0.1904

Sample calculation for 35 rpm:

2nd Stage Ring Gear Speed

Angular Speed

Sample calculation for 44 rpm:

2nd Stage Ring Gear Speed

Angular Speed

Sample calculation for 56:

2nd Stage Ring Gear Speed

=
=
=
=
=
=

Number of Cycle / Total Time Taken

1/64s
0.015625 rps
2nd stage gear speed
0.015625 rps * 2
0.09817 rad/s

=
=
=
=
=
=

Number of Cycle / Total Time Taken

1/50s
0.02 rps
2nd stage gear speed
0.02 rps * 2
0.1257 rad/s

=
=

Number of Cycle / Total Time Taken

1/40s

Angular Speed

Sample calculation for 65rpm:

2nd Stage Ring Gear Speed

Angular Speed

=
=
=
=

0.025 rps
2nd stage gear speed
0.025rps * 2
0.157 rad/s

=
=
=
=
=
=

Number of Cycle / Total Time Taken

1/33s
0.0303 rps
2nd stage gear speed
0.0303rps * 2
0.1904 rad/s

Calculation for the 3rd stage ring gear speed (rpm)

Motor Speed Number
of Time (s)
3rd Stage Ring Gear Angular Speed
(rpm)
Cycle
Speed (rps)
(rad/s)
35
1
62.5.
0.016
0.1005
44
1
50.7
0.0197
0.1239
56
1
39.6
0.02525
0.1587
65
1
34
0.0294
0.1848
Sample calculation for 35 rpm:
3rd Stage Ring Gear Speed

Angular Speed

Sample calculation for 44 rpm:

3rd Stage Ring Gear Speed

Angular Speed

Sample calculation for 56 rpm:

3rd Stage Ring Gear Speed

Angular Speed

=
=
=
=
=
=

Number of Cycle / Total Time Taken

1/62.5.00s
0.016 rps
3rd stage ring gear speed * 2
0.016rps * 2
0.1005 rad/s

=
=
=
=
=
=

Number of Cycle / Total Time Taken

1/50.7 s
0.0197 rps
3rd stage ring gear speed * 2
0.0197rps * 2
0.1239 rad/s

=
=
=
=

Number of Cycle / Total Time Taken

1/39.6s
0.02525 rps
3rd stage ring gear speed * 2

Sample calculation for 65 rpm:

3rd Stage Ring Gear Speed

Angular Speed

=
=

0.02525rps * 2
0.1587 rad/s

=
=
=
=
=
=

Number of Cycle / Total Time Taken

1/34.00s
0.0294 rps
3rd stage ring gear speed * 2
0.0294rps * 2
0.1848 rad/s

Calculation for torque & power generated at the 3rd stage of epicyclical gear
Motor Speed Load Output Load Output Torque Output Power
Output
(rpm)
(kg)
(N)
(Nm)
(W)
35
10.5
103.005
4.635
0.4658
44
10.5
103.005
4.635
0.5743
56
10.75
105.458
4.74558
0.75312
65
11
107.91
4.85591
0.8973
Radius of the Pulley = 0.045m
Sample calculation for 35 rpm:
Load Output (N)
=
Load Output (kg)
9.81m/s2
=
10.5 kg 9.81m/s2
=
103.005 N
Torque Output =
Load Output (N)
Radius of the pulley
=
103.005 N
0.045m
=
4.635 Nm
Power Output
=
Torque Output Angular Speed of 3rd Stage Ring Gear
=
4.635 m * 0.1005 rad/s
=
0.4658 W
Sample calculation for 44 rpm :
Load Output (N)
=
Load Output (kg)
9.81m/s2
=
10.5 kg 9.81m/s2
=
103.005 N
Torque Output =
Load Output (N)
Radius of the pulley
=
103.005 N
0.045m
=
4.635 Nm
Power Output
=
Torque Output Angular Speed of 3rd Stage Ring Gear
=
4.635 m * 0.1239 rad/s
=
0.5743 W
Sample calculation for 56 rpm :

=
Load Output (kg)
9.81m/s2
=
10.75 kg 9.81m/s2
=
105.4575 N
Torque Output =
Load Output (N)
Radius of the pulley
=
105.4575 N
0.045m
=
4.74558 Nm
Power Output
=
Torque Output Angular Speed of 3rd Stage Ring Gear
=
4.74558 m * 0.1587 rad/s
=
0.75312 W
Sample calculation for 65 rpm:
Load Output (N)
=
Load Output (kg)
9.81m/s2
=
11 kg 9.81m/s2
=
107.91 N
Torque Output =
Load Output (N)
Radius of the pulley
=
107.91 N
0.045m
=
4.85591 Nm
Power Output
=
Torque Output Angular Speed of 3rd Stage Ring Gear
=
4.85591 m * 0.1848 rad/s
=
0.8973 W
Load Output (N)

Calculation of power loss and overall efficiency

Motor Speed Power Input Power Output Power Loss Overall
(rpm)
(W)
(W)
(W)
Efficiency,
35
2.93216
0.4658
2.46636
0.1588
44
3.686
0.5743
3.1117
0.15580
56
4.691
0.75312
3.93788
0.1605
65
4.901
0.8973
4.0037
0.18308
Sample calculation for 35 rpm:
Power Loss =
Power Input Power Output
=
2.93216 W 0.4658 W
=
2.46636 W
Efficiency
=
Power Output / Power Input
=
0.4658/2.93216
=
0.1588
Sample calculation for 44 rpm
Power Loss =
Power Input Power Output
=
3.686 W 0.5743W
=
3.1117 W
Efficiency
=
Power Output / Power Input

=
0.5743/3.686
=
0.15580
Sample calculation for 56 rpm
Power Loss =
Power Input Power Output
=
4.691 W 0.75312W
=
3.93788 W
Efficiency
=
Power Output / Power Input
=
0.75312/4.691
=
0.1605
Sample calculation for 65 rpm
Power Loss =
Power Input Power Output
=
4.901 W 0.8973 W
=
4.0037 W
Efficiency
=
Power Output / Power Input
=
0.8973/4.901
=
0.18308
Calculation of speed ratio of the epicyclical gear system
Motor
Angular 1st Stage Ring Gear 2nd Stage Ring Gear 3rd Stage Ring Gear
Speed (rad/s), R1 Speed (rad/s), R2 Speed (rad/s), R3 Speed (rad/s), R4
3.6652
1.047
0.09817
0.1005
4.6077
1.3613
0.1257
0.1239
5.8643
1.7802
0.157
0.1587
6.8068
2.094
0.1904
0.1848
Motor Speed R1/R2
(rpm)
35
3.5006
44
3.384
56
3.294
65
3.2506

R1/R3

R1/R4

R2/R3

R2/R4

R3/R4

37.335
36.65
37.352
35.75

36.469
37.1888
36.952
36.833

10.665
10.829
11.338
11.0

10.4149
10.987
11.217
11.331

.9768
1.0145
0.989
1.0303

Comparison between the torque input and output of the system

Motor
Speed
Torque Ouput /
Torque Input (Nm) Torque Output (Nm)
(rpm)
Torque Input
35
0.8
4.635
5.7937
44
0.8
4.635
5.7937
56
0.8
4.74558
5.9319
65
0.72
4.85591
6.7443

Discussion

Power ouput (W)

Power Output (W) vs Motor Speed, R4

1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0

0.05

0.1

0.15

0.2

3rd Stage Ring gear (R4 rad/s)

Power Input (W) vs Motor Speed (rad/s), R1

Power Input (W)

6
5
4
3
2
1
0
0

Motor Speed (R1 rad/s)

From the above two graphs we can see that the gear speed is directly proportional to the
power which goes in line with the theory.
Observing the experiment we can see that the output torque isnt affected by the power
input however the power output lost increases when the power input is increased.
Useful data
No of Teeth Pitch Diameter (mm)
Pitch Size (mm)
Sun Gear
18
36
7
Planetary Gear
21
44
7
Ring Gear
60
120
7
Gear Ratio
Gear Ratio
Gear Ratio
Gear Ratio
Gear Ratio
Gear Ratio

=
=
=
=
=
=
=
=
=

Nsun / N Planetary
18/21
0.86
Nsun/N Ring
18 / 60
0.30
N Planetary / N Ring
21 / 60
0.35

Advantages & Disadvantages of the epicyclic gear system

The planetary gear box offers a set of distinct advantages which makes it an
interesting alternative to traditional gear types such as helical and parallel shaft gear
boxes in applications requiring:
High reduction ratios
Compact and lightweight with high torque transmission
High radial loads on output shaft
Disadvantages of planetary gear systems
Complexity
Assembly of gears is limited to specific teeth per gear ratios
Efficiency calculations are difficult
Driver and driven equipment must be in line to avoid additional gearing
A good example of the everyday application of a planetary gear system is the automatic
transmission of a car.
1.
2.

From the tables we can that the relationship between powers input and output is
linear.
From the calculation we can see that there is power loss from the input to the
output this can be attributed to the following reasons.

3.

Frictional for between the teeth of the gears

Energy loss in the form of sound

Energy loss in the form of heat

Errors associated with the experiment include
Parallax Errors Unparalleled reading of angular values by the observer.
Accuracy Error The stopwatch is not pressed immediately after the time is up.
The digital Vernier calliper is not perpendicular to the pulley during the
measurement of the pulley diameter.
Systematic Errors

Conclusion
In conclusion we say that the in this experiment we have seen how we can increase the
torque input to a higher value using an epicyclic gear train system. For example for a
motor speed of 35rpm we can see how we were able to turn the 0.8Nm in 4.635Nm in a
much smaller setting than using a compound train system. We have also seen the
significant power losses that occur due to this increase in torque. For the 44rpm motor
speed a power loss of 3.1117 W was observed.