Beruflich Dokumente
Kultur Dokumente
(AR)
15 September
1981
..
,:
MILITARY
HANDBOOK
SHAFTS,
TORSIONAL
ELASTIC
STRESS ANALYSIS
OF
NO DELIVERABLE DATA
QUIRED BY THIS DOCDNSNT
AREA CDNC
..
MIL-HDBK-776(AR)
15 September 1981
DEPARTMENT OF DEFENSE
WASHINGTON, DC 20360
Shafts, Elastic Torsional Stress Analysis Of
MIL-HDBK-776(AR)
This standardization handbook is approved for use by the Armament Research
1.
and Development Command, Department of the Army, and is available for use by all
departments and agentiesof the Department of Defense.
2. Beneficial comments (recommendations, additions, deletions) and any pertinent data which may be of use in improving th:Lsdocument should be addressed
US Army Armament Research and Development Command, ATTN: DRDAR-TST-S, Dover,
to:
NJ 07801.
ii
MIL-HDBK-776(AK)
15 September 1981
FOREWORO
-.
.,:.
:
... .
.:, ,.,..-
.,,
. ..
:..
,,,. .
.:... -.
. .
.,.,
iii
,,
.--
_,
MIL-HDBK-776(AR)
15 September 1981
TABLE
OF COt4TENTS
Paqe
The Torsion
Design
Problem
Charts
No.
and Tables
Accuracy
of the Computerized
Parallel
Shaft
Solution
54
55
Concept
66
Bibliography
Appendixes
A
Mathematical
Model
Computer Program
Used
Extension
to Uollow Shafts
of Model
in the SHAFT
67
75
MIL-HDBK-776(AR)
15 September 1981
Tables
1
Element
Split
shaft,
volume
factor
[v)
Split
shaft,
stress
factor
(f)
Single
keyway
shaft,
volume
factor
(V)
11
single
keyway
shaft,
stress
factor
(f)
13
Two keyway
shaft,
volume
factor
(V)
15
TWO keyway
shaft,
stress
factor
(f)
17
Four
keyway
shaft,
volume
factor
(V)
19
Four
keyway
shaft,
stress
factor
(f)
21
nomenclature
10
Sinqle
square
11
Single
spl ne shaft,
volume
factor
(V)
25
Single
spl. ne shaft,
stress
factor
(f)
27
keyway
with
inner
fillets
23
13
Two
spline
shaft,
volume
factor
(V)
29
14
Two
spline
shaft,
stress
factor
(f)
31
15
Four
spline
shaft,
volume
factor
(V)
33
16
Four
spline
shaft,
stress
factor
(f)
35
17
splines
37
~,q{l.arc
keyw. ays and external
stress factor (f)
splin es,
39
,T-
MIL-HDBK-776(AR)
15 September 1981
19
Milled
shaft,
volume
20
Milled
shaft,
stress
21
Rectangular
22
Pinned
shaft,
volume
23
Pinned
shaft,
stress
24
Cross
shaft,
volume
25
Cross
shaft,
stress
factor
41
(V)
factor
43
(f)
45
shaft
factor
49
f)
factor
factor
47
(V)
51
(V)
53
f)
factor
Figures
analogy
shsft,
torque
stift,
stress
Membrane
Split
Split
Single
keywayshsft,
torque
10
Single
keyway
stress
12
Twokeyway
shaft,
torque
14
Two keyway
shaft,
stress
16
Four
keyway
shaft,
torque
18
Four
keyway
shaft,
stress
20
shaft,
10
Single
square
11
Single
spline
shaft,
torque
24
12
Single
spline
shaft,
stress
26
keyway
with
,_
inner
VI
-..
fillets
22
M1L-HDBK-776(AR)
15 September 1981
13
lwo spline
shaft,
torque
28
14
rwo spline
shaft,
stress
30
15
Four
spline
shaft,
torque
32
16
Four
spline
shaft,
stress
34
17
Square
keyways
and external
splines,
torque
36
18
Square
keyways
and external
splines,
stress
38
19
Milled
shaft,
torque
40
20
Milled
shaft,
stress
42
21
Rectangular
22
Pinned
shaft,
torque
46
23
Pinned
shaft,
stress
48
24
Cross
shaft,
torque
50
25
Cross
shaft,
stress
52
26
parallel
27
Milled
28
Circular
29
Superposition
30
Superposition
A for four
spline
shaft
60
31
Superposition
shaft
61
32
Illustrative
shaft
shaft
44
shaft
with
shaft
56
concept
central
with
design
four
57
hole
inner
splines
shaft
applications
58
59
63
65
MIL-HDBK-776(AR)
15 September 1981
TORSIONAL
oF 5pLINED
.5NILLED
51[AFT5
ANALYSIS
S5 = T.r/J,
or T
G.O.J
or S5
G.O.r
differential
equation,
from Saint-
MIL-HDBK-776(AR)
15 September 1981
MIL-HDBK-776(AR)
15 September 1981
#
NOOES
#2
EM
~=:-.
FINITE
--
MEMBRANE
SOLUTION
#5a
CROSS-SECTtiPIS
Figure
1.
Membrane
analogy.
DIFFERENCE
MIL-HDBK-776(AR)
15 September 1981
DESICN
Design
stress
and
analyses
tables
These
25,
by Ml S.
data
based
by the
data
TABLES
which
support
Dare shown
respectively.
in table
are
AND
The
the elastic
in figures
item
torsional
2 through
nomenclature
25
used
in
1.
on the
stress
SHAFT computer
function
solution
for various
program
and
on Prandtls
they
can
analogy.
Since
shafts
related
is given
provided
membrane
and
conducted
2 through
the analyses
shapes
charts
CHARTS
of any
thedesign
charts
material
and any
are
dimensionless,
dimensions.
I
4
be used
for
MIL-HDBK-776(AR)
15,September 1981
Table
1.
Element
TORSIONAL
nomenclature
PROPERTIES
OF
SOLID,
NON-CIRCULAR
SHAF13
T=
e=
TRANSMITTED
TOROUE,
m (lb
i.. )
rad/mm (,wUin.i
G.
OF
R.
OUTER
d@f.
=
RADIUS OF CR OSSSECTION,
mm (in. )
s~ =
T.
2G 0 (V)R4
Ss =
Ss
Y
MIL-HDBK-776(AR)
15 September 1981
.4(
0.1
~/~i=
.3!
.3C
0.3
0.5
0.7
I..- ni i\
TORSIONAL
N\
STIFFNESS
TRANSMITTED
TORQUE,
T=2.G.
e(v)R:
.2!
v
.2C
.1!
o\
.1(
.05
.0
.1
.2
-~
3RYw
I
Figure
2.
Split
shaft,
torque.
MIL-HDBK-776(AR)
15 September 1981
Table
2.
Split
volume
factor
(V)
Ri/llo
Y/Ri
shaft,
0.1
0.2
0.3
0.4
0.5
0.6
0.1
.3589
.2802
.2068
.1422
.0891
.0491
0.2
.3557
.2762
.2030
.1391
.0870
.0478
0.3
.3525
.2722
.1991
.1360
.0848
.0464
0.4
.3492
.2680
.1952
.1328
.0825
.0450
0.5
.3457
.2637
.1911
.1294
,0801
.0436
0.6
.3423
.2593
.1869
.1260
.0777
.0421
0.7
.3387
.2548
.1824
.1223
.0750
.0405
0.8
.3350
.2499
.1776
.1183
.0722
.0387
0.9
.3312
.2447
.1725
.1139
.0689
.0367
1.0
.3269
.2389
.1665
.1087
.0649
.0340
MIL-HDBK-776(AR)
15 September 1981
SHEAR
6.5
MAXIMUM
6.0
y/Ri =
STRESS
AT
AT
INNER
X
1.0
EDGE,
0.9
s~ = T (f/R:)
5.5
0.7
5.0
0.5
0.3
4.5
0.1
4.0
3.5
3.0
2.5
2.0
0.1
0.2
0.3
0.4
0.5
Ri/Ro
Figure
3.
Split
shaft,
stress
0.6
MIL-HDBK-776(AR)
15 September 1981
Table
3.
Split
stress
factor
(f)
Ri/Ro
Y/Ri
shaft,
0.2
0.3
0.4
0.5
0.6
0.1
2.2140
2.2742
2.5771
3.2178
4.4650
0.2
2.2447
2.3162
2.6336
3.2977
4.5865
0.3
2.2767
2.3608
2.6942
3.3838
4.7182
0.4
2.3103
2.4082
2.7597
3.4771
4.8620
0.5
2.3461
2.4594
2.8304
3.5795
5.0233
0.6
2.3883
2.5142
2.9084
3.6930
5.2016
0.7
2.4233
2.5750
2.9955
3.8232
5.4082
0.8
2.4670
2.6423
3.0952
3.9744
5.6550
0.9
2.5142
2.7197
3.2141
4.1618
5.9691
1.0
2.5672
2.8140
3.3690
4.4218
6.4392
MIL-HDBK-776(AR)
15 September1981
TORSIONAL
.Bo
STIFFNESS
TRANSMITTED
TORQUE,
T=2.Ge(v)R4
.7s
.70
.65
.60
.55
.s0
.4s
.40
.1
.2
.3
.4
.5
BIR
Figure
4.
Single
keyway
10
shaft,
torque.
MTL-HDBK-776(AR)
15 September 1981
Table
4.
Single
shaft,
volume
factor
(V]
B/R
A/B
0.1
0.2
0.2
keyway
0.3
0.4
0.5
.6994
.6472
.5864
0.3
.7379
.6900
.6316
.5648
0.4
.7341
.6816
.6173
.5459
0.5
.7682
.7290
.6725
.6043
.5294
0.6
.7676
.7262
.6663
.5941
.5152
0.7
.7668
.7224
.6592
.5848
.5032
0.8
.7658
.7190
.6533
.5762
.4931
0.9
.7647
.7162
.6480
.5686
.4849
1.0
.7633
.7125
.6424
.5619
.4783
1.2
.7621
.7079
.6347
.5531
.4697
1.5
.7592
.7012
.6260
.5449
.4649
2.0
.7560
.6945
.6200
.5424
11
:0
i
MIL-HDBK-776(AH)
15 September 1981
I
1.20
1.15
AIB =04
1.10
1.05
SHEAR
MAXIMUM
0.5
1.00
0.6
0.7
.95
0.8
0.9
.90
1.0
1.2
1.5
~
+
2.0 ,/
I
0.2
0.1
1
0.3
0.4
0.5
BIR
Figure
5.
Single
keyway
12
shaft,
stress
STRE:
AT
Table
5.
keyway
shaft,
stress
factor
0.2
0.3
0.4
0.5
0.3
1.1867
1.2273
1.2538
1.2832
0.4
1.1241
1.1333
1.1642
1.2234
0.1
Single
MIL-HDBK-776(AR)
15 Se?tember 1981
(f)
0.5
.9899
1.0303
1.0624
1.1155
1.1962
0.6
.9767
1.0077
1.0387
1.0960
1.1859
0.7
.9602
.9746
1.0098
+;0820
1.1848
0.8
.9393
.9466
.9953
1.0737
1.1885
0.9
.9124
.9334
.9843
1.0699
1.1944
1.0
.8773
.9131
.9749
1.0691
1.2009
1.2
.8651
.8993
.9684
1.0721
1.2120
1.5
.8300
.8829
.9655
1.0774
1.2198
2.0
.8083
.8752
.9667
1.0799
13
.:,.-. .
. ..
,-,.:
MIL-HDBK-776(AR)
15 September 1981
.60
TORSIONAL
STIFFNESS
.70
.60
.50
v
.40
.3
.4
.5
.,.
.Ju
.6
.20
.1
.2
.3
.4
BIR
Figure
6.
Two
keyway
14
shaft,
torque,
.5
MIL-HDBK-776(AR)
15 September 1981
Table
6.
Two
keyway
0.1
.0.2
0.2
0.3
factor
(V)
0.4
.
0.5
.6187
.5226
.4195
0.3
.6927
.6008
.4944
.3831
0.4
.6853
.5848
.4688
.3517
0.5
.7524
.6753
.5678
.4457
.3246
0.6
.7511
.6698
.5562
.4277
.3014
0.7
.7496
.6625
.5429
.4112
.2818
0.8
.7477
.6558
.5319
.3962
.2655
0.9
.7454
.6505
.5221
.3829
.2522
1.0
.7426
.6433
.5117
.3713
.2416
1.2
.7404
.6344
.4974
.3559
.2276
1.5
.7346
.6215
.4813
.3416
.2197
2.0
.7283
.6086
.4703
.3373
15
volume
B/R
Al B
shaft,
.-
MIL-HDBK-776(AR)
15 September 1981
1.60
1.50
1.40
SHEAR
1.30
MAXIMUM
Am = 0.3
1.10
0,5
0,6
0.7
0.8
0.9
.90
0.1
0.2
0.3
0.4
0,5
BIR
Figure
7.
AT
~= T(f/R3)
1.20
1.00
STRESS
TWO keyway
16
shaft,
stress.
MIL-HDBK-776(AR)
~ 15.September1981
..
Table
7.,..IWO ke~4a~
0.1
sh.a.ft,.stress factor
,.
. . . .. . . ,:!.-~-i
,..!
.,.,
0.2
0.2
!.
. . ..
(f)
.:
0.3
0.4
1.4936
1.6578
1.7501
1.3642
1..4929
1.6491
-.jj5
1.6313
~ 0.5
?,
0.3
1.2487
1.6555
I
~.7027
c.
1.7623
1.8269
<
@.,
1.8910
1.9502
~
1
2.0422_j
~i,,
2.1024
I
I
!
\
..l ,>!,
1
b
I
I
I
i (
-;
01.
MIL-HDBK-776(AR)
15 September 1981
.80
TORSIONAL
STIFFNESS
TRANSMITTED
TORQUE,
T=2GOOW)R4
.70
.60
.50
.40
.30
.20
.10
.2
.1
1
.4
.3
81R
I
.5
I
Figure
8.
Four
keyway
18
shaft,
torque.
MIL-HDBK-776(AR)
15 September 1981
Table
8.
Four
keyway
A/B
shaft,
volume
factor
(V)
BIR
.0.1
0.2
0.2
0.3
0.4
.
0.5
.4806
.3361
.2114
0.3
.6088
.4511
.2965
.1705
0.4
.5952
.4253
.2624
.1384
0.5
.7214
.5769
.3983
.2333
.1140
0.6
.7190
.5672
.3805
.2119
.0962
0.7
.7161
.5541
.3605
.1935
.0842
0.8
.7124
.5422
.3444
.1783
0.9
.7080
.5330
.3304
.1662
1.0
.7024
.5203
.3160
.1572
1.2
.6982
.5051
.2974
.1482
1.5
.6870
.4832
.2787
2.0
.6748
.4622
.2692
19
MIL-HDBK-776(AR)
15 September .1981
., , .,
2.40
....
..
,>..
;. (~ ;:
. .
:.,
2.20
.-:,
,. .
,}:,
.:. !
l;...-
.!
,. ,.
~~~
2.00
:..:.
~~.~1+
1.80
f
~
1.60
1.40
1.20
01.00
.80
0.1
0.2
0.3 ~,
B/R
Figure
9.
Four
keyway
20
0.4
0.5
i
shaft,
stress
MILTHDBKZ7Zj,(AR)
:
15j$epte.rn}e;
1981
Table
Four
9.
shaft,
0.3
0.2
0.1
-
0.2
keyway
..... :,...
.
:
,..
,.,.. 1 -
:2:7365
i-.3566-
0.3
0.4
!
,
0.5
0.6
~.0252
3
0.7
,.,
1.5460
1.3011
...... . ......
i.0371
2;
i.6214
~.0102
1.50i6
.,
1..5115
~+,
;1:5,175
,,,1.2130
.
1.1979-,.;
11.i737
stress
factor
13.4,(...-.
-..
(f)
0.5
;
I
!
2;1206
, 2.0014
..J
1.9971
2.4931
2.0591
3.1882
j c;.. .
2.1568
3.6139
2.2660
4.0368
2.5784
.! ,:,,,
I
2.8271
! ,
1
I
..:
[;::
I
\ .9910
l.lsii
1.0
i. 9661
.9331
1.1493
:
1.1398
1.2
{ .9232
0.8
:,
0.9
~:.j
1.5
[,2.
2.0
<:~,
1.5382.
2.3834
.
1,.5609
-...
1.589
<.,2.4993
--!
o
I
+.8940
I
{ .8796
I
l..
I
1
<
,. ...
{.?,...
MIL-HDBK-776(AR)
15 September 1981
TRANSMiTTED
.75
T=2.
TORQUE
Gd(V)R4
SHEAR
STRESS
.70
1.30
S~=T(f/R3)
\
f2
.65
1.20
.60
1.10
1.00
.55
.50
.90
.45
.80
.40
l--
R
B
4
I
0.1
0.2
0.3
0.4
.70
0.5
BIR
Figure
10.
Single
square
keyway
22
with
inner
fillets
MIL-liDBK-776
(AR)
15 September 1981
Table
10.
Single
square
keyway with
tight
Stress
At keyway
center(1)
inner
fillets
factor(f)
!?@
Volume
factor(V)
0.1
.7703
0.2
.7206
.9715
.9777
0.3
.6504
.9941
1.0817
0.4
.5690
1.0735
1.1641
0.5
.4840
1.1977
1.2245
At
inner
fillet(2)
.7804
23
.,
MIL-HDBK-776(AR)
:15 September.l98l
1.5
1.15
>-3,.?
TORSIONAL
AIB = 2.0
STIFFNESs
,:7., .,
TRANSMITTED
TORQUE,
T=2GO(V)R4
,lP.::::
.-.:
- .,
9 ...
//
1.10
. -,...
,
1.00
if!?-+liik
/ 2!/2
+2
. I_
///
-//I
.95
/0
.90
.85
.8a
.1
.2
.3
.4
.5
Figure
11.
Single
BIR
spline
24
shaft,
torque.
1
I
MIL-RDBK-776(AR)
15 September 1981
o
Table
11.
Single
shaft,
0.1
0.2
0.2
factor
(V)
0.4
0.5
.7853
.7865
.7878
0.3
0.3
.7853
..7870
.7906
.7944
0.4
.7864
.7903
.7968
.8048
0.5
.7845
.7874
.7933
.8035
.8189
0.6
.7852
.7899
.7993
.8143
.8362
0.7
.7857
.7918
.8059
.8270
.8580
0.8
.7862
.79s0
.8113
.8390
.8832
0.9
.7866
.7976
.8202
.8560
.9110
1.0
.7869
,7996
.8253
.8712
.9433
1.2
.7890
.8071
.8456
.9117
1.0158
1.5
.7907
.8174
.8754
.9800
1.1561
2.0
.7953
.8407
.9420
1,1404
25
volume
B/R
A/B
spline
MIL-HDBK-776(AR)
15 September 1981
SHEAR
STRESS
MA)(iMUM
AT
)(
S~= T (f/R3)
0.65
At13 = 0.2
0.4
0.5
0.6
0.7
0.8
0.60
0.9
0.55
1.0
1.2
0.50
AiB = 2.0
0.45
0.40
-t
0.1
0.2
0.3
0.4
BIR
Figure
12.
Single
spline
26
shaft,
stress.
0.5
1.5
MIL-HDBK-776(AH)
15 September 1981
Table
12.
0.1
Single
spline
0.2
0.2
shaft,
stress
factor
(f)
0.3
0.4
0.5
.6369
.6361
.6352
0.3
.6369
.6358
.6335
.6309
0.4
.6362
.6337
.6295
.6241
0.5
.6374
.6356
.6317
.6251
.6152
0.6
.6370
.6340
.6280
.6184
.6047
0.7
.6366
.6328
.6239
.6107
.5920
0.8
.6364
.6308
.6205
.6035
.5781
0.9
.6361
.6291
.6152
.5939
.5638
1.0
.6359
.6279
.6120
.5854
.5483
1.2
.6346
.6233
.6004
.5648
.5173
1.5
.6335
.6172
.5842
.5340
.4104
2.0
.630,7
.6038
.5525
.4798
.4331
27
MIL-HDBK-776(AR)
15 September 1981
AIB = 2.o
1.60
TORSIONAL
11.5
STIFFNESS
TRANSMITTED
TORQUE,
T=2.G%(V)R4
1.40
1.30
1.20
v
~
1.10
.9
1.00
.8
.7
.90
.6
.5
,4
.3
.2
.60
.m
.1
.2
.4
.3
BIR
Figure
13.
Two
spline
28
shaft,
torque.
.5
MIL-HDBK-776(AR)
15 September 1981
Table
13.
Two
shaft,
volume
factor
(V)
B/l?
Al B
0.1
0.2
0.2
spline
0.3
0.4
0.5
.7865
.7889
.7914.
0.3
.7864
.7899
.7970
.8047
0.4
.7886
.7965
.8095
.8255
0.5
.7850
.7906
.8026
.8229
.8538
0.6
.7863
.7958
.8145
.8446
.8886
0.7
.7874
.7994
.8278
.8701
.9326
0.8
.7883
.8059
.8386
.8945
.9837
0.9
.7891
.8111
.8565
.9288
1.0400
1.0
.7897
.8152
.8668
.9595
1.1058
1.2
.7940
.8302
.9078
1.0418
1.2547
1.5
.7973
.8509
.9682
1.1818
1.5471
2.0
.8066
.8980
1.1045
1.5172
29
MIL-HDBK-776(AR)
15 September
1981
SHEAR
STRESS
MAXIMUM
AT
S~= T (f/R3)
0.65
A/B = 0.2
0.3
0.4
0.60
0.5
0.6
0.7
0.55
0.8
0.9
0.50
1.0
0.45
1.2
0.40
1.5
0.35
0.2
0,1
0.3
0,4
0.5
Figure
14.
Two
spline
30
shaft,
stress.
!
I
-!
MIL-HDBK-776(AR)
15 September 19B1
o
Table
14.
TWO
spline
shaft,
stress
factor
(f)
B/R
A/B
0.1
02
&
0.2
0.3
0.4
.0.5
;6362
.6346
.6329
0.3
.6362
.6340
.6294
.6243
0.4
.6348
.6298
.6215
.6113
0.5
.6371
.6336
.6259
.6131
.5946
0.6
.6363
.6303
.6187
.6004
.5753
0.7
.6357
.6281
.6108
.5862
.5532
0.8
.6351
.6241
.6043
.5732
.5300
0.9
.6346
.6209
.5944
.5564
.5071
1.0
.6342
.6184
.5887
.5421
.4836
1.2
.6315
.6097
.5678
.5088
.4398
1.5
.6295
.5981
.5402
.4632
.3815
2.0
.6240
.5740
.4903
.3937
3,1
MIL-HDBK-776(AR)
15 September 1981
1.80
1.2
TORSIONAL
1.73
STIFFNESS
TRANSMITTED
TORQUE,
T=2Ge(v)R4
1.60
1.50
140
v
130
I .m
1.lC
1.Oc
.%
.8(
.2
.1
Figure
15.
Four
Blfl
spline
.3
shaft,
.5
.4
torque.
_.. .
32
MIL-HDBK-776(AR)
15 September 1981
Table
15.
Four
spl ine
shaft,
0.1
0.2
0.2
(V)
0.3
0.4
0.5
.7888
.7937
.7989
0.3
.7887
.7957
.8101
.8254
0.4
.7932
.8090
.8352
.8674
0.5
.7859
.7971
.8213
.8623
.9250
0.6
.7885
.8076
.8452
.9063
.9962
0.7
.7906
.8149
.8723
.9588
1.0877
0.8
.7924
.8280
.8944
1.0090
1.1950
0.9
.7940
.8386
.9310
1.0808
1.3158
1.0
.7954
.8467
.9519
1.1455
1.4601
1.2
.8040
.8773
1.0378
1.3239
1.8021
1.5
.8106
.9196
1.1663
1.6438
2.0
.8292
1.0180
1.4739
33
factor
B/R
A/B
volume
MIL-HDBK-776(AR)
15 September 1981
SHEAR
STRESS
MAXIMUM
AT
.S~= T (f/f33)
0.65
AIB = 0.2
0.3
0.4
0.60
0.5
0.55
0.6
0.7
15
0.50
0.8
,1
12
0.9
1.0
0.45
+
A
0.40
~
U.1
0.2
0.3
0.4
0.5
131R
Figure
16.
Four
spline
shaft,
stress
......
34
MIL-HDBK-776(AK)
15 September 1981
Table
16.
0.1
Four
spline
0.2
0.2
shaft,
stress
factor
(f)
.0.3
0.4
0.5
.6356
.6332
.6305
0.3
.6356
.6323
.6256
.6176
0.4
.6336
.6263
.6142
.5986
0.5
.6369
.6318
.6206
.6019
.5756
0.6
.6358
.6273
.6106
.5848
.5510
0.7
.6349
.6240
.6001
.5670
.5257
0.8
.6341
.6187
.5913
.5516
.5028
0.9
.6334
.6144
.5794
.5344
.4842
1.0
.6328
.6109
.5720
.5199
.47L4
1.2
.6293
.5998
.5508
.4989
1.5
.6265
.5860
.5279
2.0
.6192
.5630
35
MIL-HDBK-776(AK)
15 September 1981
MIL-HDBK-776(AR)
15 September 1981
Table
17.
Square
keyways
and external
TWO keyways
volume factor
Four keyways
BjR
One keyway
0.1
.7633
.7426
.7024
0.2
.7125
.6433
.5203
0.3
.6424
.5117
.3160
0.4
.5619
.3713
.1572
0.5
.4783
.2416
0/R
One spline
Two
splines
Four
splines
0.1
.7869
.7897
.7954
0.2
.7996
.8152
.8467
0.3
.8253
.8668
.9519
0.4
.8712
.9595
1.1455
0.5
.9433
1.1058
1.4601
37
splines,
(v)
. .. .
,,,. =,,
FLIL-tUJDh-l
.7.
.-.
IO(AK)
15 September 1981
4 KEYWAYS
SHEAR
2.40
STRESS
MAXIMUM
AT
S~= T (f/R3)
2.20
0.65
SPLINES
2.00
0.60
R
1.80
0.55
KEYWAYS
SPLINES
1.60
0.50
KEYWAYS
1.40
3
4 SPLINES
1 KEYWAY
1.20
0.45
0.40
1.00
0.35
.80
0.1
0.2
0.3
0.4
0.5
BIR
Figure
18.
Square
keyways
and
38
external
splines,
stress
MIL-HDBK-776(AR)
15 September 1981
Table
18. Square
Two
Four
keyways
B/R
one keyway
0.1
.8773
.8978
0.2
.9131
.9916
1.1398
0.3
.9749
1.1625
1.5899
0.4
1.0691
1.4532
2.6030
0.5
1.2009
1.9502
B/R
One
keyways
Two splines
spline
.9331
Four
splines
0.1
.6359
.6342
.6328
0.2
.6279
.6184
.6109
0.3
.6120
.5887
.5720
0.4
.58S4
.5421
.5199
0.5
.5483
.4836
.4714
39
MIL-HDBK-776(AR)
15 September 1981
40
MIL-HDBK-776(AR)
15 September 1981
Table
19
Milled
shaft,
volume factor
(V)
l-vi?
One flat
Two flats
Four flats
.7813
.7811
.7811
0.1
.7617
.7149
.6520
0.2
0.29289
.7018
.5998
.4501
.2777
0.3
.6291
.4667
0.4
.s510
.3349
0.5
.4717
.2168
0.6
.3951
.1225
0.7
.3228
.0559
0.8
.2568
.0173
0.9
.1980
1.0
.1460
41
MIL-HDBK-776(AR)
15 September 1981
x
1-
0;
1-
I.ri
0
+
:
\
----
\
\
7\
ei
.
@
w--
42
0
0
!.4
L
J
.-m
L
MIL-HDBK-776(AR)
15 September 1981
Table 20.
Two flats
Four flats
H/ii
One flat
0.1
.7749
.8199
.8743
0.2
.8571
.9776
1.1848
1.7004
0.29289
0.3
.9485
1.2045
0.4
1.0593
1.5520
0.5
1.1977
2.1237
0.6
1.3725
3.1455
0.7
1.5987
5.3129
0.8
1.8975
11.5433
0.9
2.3049
1.0
2.8935
43
MIL-HDBK-776(AR)
15 Sept ]er1961
1.1[
1.OC
_fEl=+
L-d
5.0
.90
.80
TORSIONAL
4.5
STIFFNESS
TRANSMITTED
TORQUE
4.0
/
T=2G0(v)A4
.70
3.5
SHEAR
.60
STR&S
(MAXIMUM
AT
3.0
.50
2.5
.40
2.0
.30
1.5
.20
.10
0.3
1.0
=1
0.4
0.5
0.6
0.7
0.8
0.9
B/A
Figure
2T. Rectangular
44
shaft.
1.0
MIL-HDBK-776(AR)
15 September 1981
Table 21.
E!Z!?
Rectangular shaft
volume
factor(v)
Stress
factor(f)
0.3
.05635
5.2697
0.4
.1248
3.0928
0.5
.2250
2.0587
0.6
.3559
1.4805
0.7
.5146
1.1230
0.8
.6971
.8862
0.9
.8991
.7212
1.0
1.1167
.6015
45
MIL-HDBK-776 (AR)
15 September 1981
I
I
I
I
I
I
TRANSMITTED
T=2.
I
.1
TORQUE,
G.0(WR4
.2
Figure
22.
.3 A/R
.4
Pinned
shaft,
.46
.5
torque.
MIL-HDBK-776(AR)
15 September 1981
Table 22.
AIR
One
groove
TWO
grooves
factor
Four
(V)
grooves
0.1
,7700
.7558
.7280
0.2
.7316
.6803
.5855
0.3
.6760
.5738
.4062
0.4
.6087
.4521
.2374
0.5
.5349
,3300
1118
MIL-HDBK-776(AR)
15 September 1981
e
SHEAR
4.0
STRESS
MAXIMUM
AT
OF CIRCULAR
BOTTOM
CUSPS,
5~=T
AT
(f/R3)
3.5
3.0
f
2.5
2.0
1.5
1.0
0.1
0.2
0.3
0.4
0.5
AIR
Figure
23.
Pinned
48
shaft,
stress.
MIL-HDBK-776(AH)
15 September 1981
Table 23.
A/R
One
Two grooves
groove
Four grooves
0.1
1.1197
1.1374
1.1674
0.2
1.1804
1.2520
1.3800
0.3
1.2286
1.3939
1.7281
0.4
1.2894
1.6015
2.3912
0.5
1.3822
1.9211
3.8744
49
MIL-HDBK-776(AR)
15 September 1981
II
1-
Ii
;
-ul
+-
50
MIL-HDBK-776(AH)
15 September 1981
Table 24.
(V)
)(/
s
Shape P
0.1
.00741
.09907
0.2
.05219
.2120
0.3
.1642
.3767
0.4
.3538
.5714
0.5
.5947
.7639
0.6
.8302
.9247
0.7
1.0058
1.0368
0.8
1.0981
1.0981
Shape
51
MIL-HDBK-776(AR)
15 September 1981
+s-+
SHAPE - P
(P)a
a
1;
\+
III
SHEAR
MAXIMUMS
Ij
STRESS
AT
a &
S~= T (f/s3)
dL-+4)4.,
1
(M)I,
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0:8
Xls
Fiqure
25.
Cross
52
shaft,
stress
MIL-HDBK-776(AH)
15 September 1981
Table 25.
Shape
x/s
Shape
At a
0.1
26.8826
.8.7805
0.2
7.2946
0.3
3.5252
0.4
2.1192
At b
At a
At b
4.0676
.7564
2.7669
2.3702
.9225
1.4172
1.5818
.8651
.9709
1.1844
.7806
0.5
.7849
.9210
.7109
0.6
.6903
.7576
.6606
0.7
.6366
.6059
.6275
0.8
.6090
.4763
.6090
53
MIL-HDBK-776(AR)
15 September 1981
ACCURACY
o~ THE COUPUTERIZED
SOLUTION
Equation Comparison
SHAFT
Torque
2Ge(v)R
2(V)Rh
2(V)R*
2V
Shear
stress
(max)
Exact
*
GOJ
J
>
~8(d~,R
(n/2)R*
(n/2)
GeR
ds
1.
(d~)
ds
SHAFT
Exact
Deviation
1.5546
1.5669
1.5708
1.5708
1.03
0.25
1.0000
1.0000
1.0
1.0
0.
0.
3.13316
3.13984
3.14159
3.14159
0.268
0.056
(%)
I
Torque
(h=O.125
(h=O.0625)
(h=O.125)
(h=O.0625)
54
MIL-HDBK-776(AK)
15.September 1981
PARALLEL SHAFT CONCEPT
The torsional
required
rigidity
to produce
unit
of a uniform circular
(one
radian)
shaft,
displacement,
i.e.
the
torque
is:
C = _i_/6J = G-J
In
of
the
terminology
non-circular
of
shafts
is
the
membrane
defined
C = T/e
analogy,
the
torsional
rigidity
as:
= 2. G+)(V) f(R)/13
of the
individual
component
shafts.
ci=c1+c2+c3+-.
+cN
i=l
N
Tiei = ez
i=l
The
garding
all
the
rigidity
from
(fig.
27-31)
are
of
the
having
able
If,
shaft
inner
shafts
+TN)
the
for
of
arrangement.
the
of the
design
(inner
shapes,
then 400 different
and outer
shaft contours
available.
55
over-
inner
contour)
contour.
The
superposition
and
charts
re-
torsional
(or
outer
of
by
The
the
tmre
principles
of concentric
example,
be determined
subtracting
dimensions
the
can
shaft
by
dimensions
to apply
to combinations
obvious.
for 20 different
combinations
of
are
be obtained
having
being
hollow
as a parallel
can
of a shaft
tours
of
configuration
of a shaft
that
rigidity
rigidity
advantages
+T1+T~+..
i=l
torsional
torsional
Ti=e(Tl
outer]
have
solutions
(20 inner
been
shaft
con-
prepared
to all possible
x 20 outer)
MIL-RDBK-776(AR)
15 September 1981
56
$
-1
UI
z
a
K
m
z
:
b \
211
e+
/
0
II
.
II
m
0
(n
F!B
d
57
II
II
MIL-HDBK-776(AR)
15 September 1981
1!
Omo
>1-1-
-..,,.
. . ..
MIL-RDBK-776(AR)
15 September 1981
/11
.
5%
,,
1-
UY
of/J
n+
CCL
Wa
n=
3~
(n.
..;
,.,
,,
F
,,. ,
m
a)
c
.m
.x
3
&
a
U.
m
.-
-4-
<-+ L--
-A-
*.
!,
o_
F
>
K
iii
>
.i.
~-i_t
----A.
K
>
~-[
.,,t.
b
a
j,..
59
lx
w. II
II
MIL-HDBK-776(AR)
15 September 1981
II
Ui
N
a+
.-
m,
4--
.-,- -.
1.
MIL-HDBK-776(AR)
15 September 1981
&
,,
c
a--i
m
60
%.,,
1-
,,
*II
II
II
o
al
.-m
U
a \
--+
-0
m
61
e
In
m
f-
0
>
m
In
w
0
>
,!
II
II
II
MIL-HDBK-776(M)
15 September 1981
mm
00
ZZJ
00
MIL-HDBK-776(AR)
15 September 1981
I1,LU!;IRAIlVE
DISIGN
Find
,:ijc(]].ar:;l
Iaft with
2)
Maxjl[,urnShear
TOIIIUC T =1
Z
(V)R4
{he
that
APPI,lCArT.ON
may
be
transmitt,:d
intc]-i.
or splints
S~ not
StrcsS
T = E 2GG(V)R4
= o.7854-
(shown
excccd
to
= 2G6
by the
in Fig.
15,000
32)
kPa
(psi)
(V)R4
(O.1O58-O.O491)
circle)-O.0567(8
= 0.7854(1
tooth
spline)
= 0.7287
Condition
1:
(3 = 2x(n/180)xl/18)
= 0.001939(rad/in)
T = 2 (12x106)(0.001939)(0.
7287)
= 33,~of)(in-lb)
Confliti.on 2:
S /T will be maximum at the outer contour,
comple?c cil-cle (for which d$/ds = 1.0).
which
is a
.S~/T = GO(d$/CIS)R/2GOZ(VR4))
= (dO/dS)R/2Z(VR4))
J
(1.0)(1.0)/2(0.7287))
T = Ss/0.6862
Use T of 21,860(in
= 0.6862
= 15,000/0.6862
lb) as maximum
62
= 21,860(in-lb)
design
Torque
MIL-HDBK-776(AR)
15 September 1981
.OR
-.
(J.5r
-i
VR4=(7V4)R4
=(7774) 14 =0.7854
(From
Table
2 V(R)4=2(0.8468)
15)
VR4=(7T14)R4
(0.5)4
=(7T/4)(o.5)4
=0.1058
Figure
,,. .
,., .. .. ...
.,:., .
32.
Illustrative
=0.0491
design
application
,,..
MIL-HDBK-776(AR)
15 September 1981
(,mor]lm) IllUStratiVe DESIGN APPLICATION
Find the maximum shear stress and angular twist per unit length produced by
an imposed torque of 20,000 lbin. The double milled steel shaft (G=12xl(36Psi)
has a 4-spline inner hole as shown (Figure 33) .
ouTER rx)NrouR
: Double Mi lled Shaft
0.1
Ii/l{=
V (T+Lb
LQ 19) = O. 7149 (This is really V(R)4 where R=L.0)
f (lable
20) = 0.8199
INNER CONTOUR :
(0.8199x 0.7149 )
3
0.6620
(1)
/
= 17,708 psi
he effect of the inner hole is to increase the maximum shear stress by
7.99%.
64
t
t
?11
NilL-HDBK-776(AR)
15 September 1981
1%
m
MIL-HDBK-776(AR)
15 September 1981
BIBLIOGRAPHY
F,
S,
and
Sha W,
Plastic
,,The
Range
Aeronautics,
2.
F.
S,
tions,
3.
D.
N.
Inc.
4.
An
Vol
Al Ien,
Flat
XXXV,
Hollow
Methods,
Prisms
Austral
November
to Relaxation
No.
Methods,
Dover
Methods,
McGraw-Hill
Book
F. J Maher,
The Torsional
Properties
II Bulletin
of the Virginia
Polytechnic
7,
Engineering
Virginia,
1, 3rd
Edition,
UM 77-3, Dover,
and
Machine
Cleveland,
,..
Publ ica -
Company,
March
Experiment
Station
John
Ohio,
NJ,
R.
October
E.
September
Series
No.
50,
1942.
Wiley
& Sons,
Vibration
Inc.
, New
Problems,
York,
1956.
The Book
ARRADCOM
of CLYDE
- With a
Users Manual
MISD
,lTorsional
Stresses
1977.
Barnas,
Design,
of Round-
tnStitllte,
Volume
49,
No.
21,
Penton/l
in
SlOttecf
PC,
1977.
8. R.I. Isakower,
Design Charts for Torsional
Properties
~f Non-Circular
Shafts , U.S. Army
Technical
Report ARMID-TR-78001,
Dover, NJ,
November
for
1953.
R. 1. Isakower
and R. E. Barnas,
TOrque-ing
Chapter,
II u .S. Army
Shafts,
ian Council
1954.
Bars,
7. R. 1. Isakower
in the Elastic
1944.
6.
and
Australia,
Relaxation
York,
Blacksburg,
5.
Introduction
D. H. Plettaand
Edged
ACA-11,
, Melbourne,
deG.
New
Of Solid
by Relaxation
Report
Shaw,
Inc.
TOr~ion
1978.
66
MIL-HDBK-776(AR)
15 September 1981
APPENDIX
i4ATHE)mTICAL
MODEL
USED
PROGRAM
The intersection
of the grid lines with the boundaries
The intersections
of the domain are called boundary nodes.
of the grid lines with each other within the problem domain
It is at these inner domain
are called inner domain nodes.
nodes that the finite difference
approximations
are applied.
The approximation
of the partial differential
equation with
the proper finite difference
operators
replaces the PDE with
a set of subsidiary
linear algebraic equations,
one at each
In practical
applications,
the method
inner domain node.
67
MIL-HDBK-776(AR)
15 September 1981
68
MIL-HDBK-776.(AR)
15 September 1981
BOUNDARY
Overlaying finite
NODES
tfiiYvariable is
known at the boundary)
differertce GRID
the
.-
v
.INNER
(value
DOMAIN
0
NODES
tO be
found byf thev=MIe
finite difference
solution)
~hxi
69
grid,
MIL-HDBK-776(AR)
15 September 1981
I
I
Consider
the general
expression:
.
Where
A,B,D
constants.
are arbitrary
=D
Vaf=A;~+B;~
lJsing
central
differences,
the finite difference
approximations
to the partial differential
operators
of function f
at representative
node O are:
e
af
a;
J-
.+(f,-f,)#$=2h
(f,-f, )
Y
azf
I
a~ = ~
~x
(fl -2fo+f3)
I
Eor a square
grid
becomes:
h2V2f0
= [A
(fl
=h
+f,)
+B
70
(fz +f,)
(A+B)
operator
2fO] =h2D
Vzf
I
I
I
I
I
MIL-HJ)BK-776
(AR)
15 September 1981
hX-h
COMPUTATION
STENCIL
AT NODE O
2
B
FOR
h,
T
=h
-2(A+B)0
.
A
vf=A~2+B:$C)
~,,
+
Figure
A-2.
Harmonic
operator
for
71
square
star
in X-Y
grid.
MIL-HDBK-776 (AR)
.15 September 1981
node
at
four
surrounding
five
nodes
This
four-arm
involved
The
pattern
to make
=fO
f near
on the grid
zero
nodes.
the variable
approximation
of an irregular
the representative
(f)
at the
(h)
The
at the center.
visualized
connected
The
value
at that
in a
within
node
is
equation.
star
node
h,)
re-
O by a second-degree
Y:
+al
this
+a4Y2 +as XY
X +a2Y+a~X2
polynomial
at the
the following
set of equations:
fl
+azhlz
=fO
node
spacing
be conveniently
up of five ,,blloon~,i
by which
treatment
in X and
Evaluating
produces
overlayed
unknown
of the variable
the grid
with
the
could
made
up the algebraic
numerical
Y)
star
involves
value
, plus
equation
stencil
and
the function
f(X,
f, , f,)
a four-arm
is the coefficient
polynomial
the unknown
difference)
computation
star
presents
plus
(fl , ft,
form
(or
balloon
multiplied
(fO)
nodes
algebraic
as a four-arm
each
zero
+alhl
fz =fo+azhz
+a,
neighboring
nodes
(1,
2,
3,
4)
hzz
h~z
I
f,=
f,
which
are
harmonic
fo-alh~+a,
=fo,-ath,
tnen
solved
operator
E=
ax
gJ
ay
+a,
h,z
for a$ and
a,
which
V2f, since:
azf
a, + 2a,X + a$Y, a~ . 2a,
azf
=az + 2a4Y+a~X,
~
ay
and
Vzf
=A
(2a3)
+ B (2a, )
72
2a4
are
necessary
to satisfy
the
MIL-HDBK-776(AR)
15 September 1981
substituting
b, .
b2 .
b, .
b, .
becomes:
..
2A
bl (bl+b~)
h2v2f0 =
f, +
2B
bz (b2+b4)
I
2A
20
f, +
f~ +
+ b~ (bl+b, )
b, (bi +b, )
2A
(
b, bz
_2B
bz b,
)1
= ~1~
f,
-1
,.,
I
t
I
,
I
;,,
.,>.
. ...
! :
.,1,
73
;1-
.,
f,
results,
MIL-HDBK-776(AR)
15 September 1981
IRREGULAR
STAR AT NOOE O
a
NEIGHBORING
NoDES(I,2,3,4.
f@
W%-W /
]
=h,,h
COMPUTATION
AT tiOOE
STENCiL
O
FOR
20
b. (b,
Vzf.A~
,b. )
+B~,.
i
\
\.
Figure
A-3.
Harmontc
operator
for
74
irregular
star
in X-Y
grid.
MIL-HDBK-77 6 (m)
15 September 1981
APPENDIX
EXTENSION
OF-MODEL
.B
TO HOLLOW
SHAFTS
more
boundaries
the
solution
calls
for
a different
B-1.
,.
,.
..
i.
,,
.,
,.,
.,
.,,
75
MIL-HDBK-776(AR)
, 15 September 1981
.,
,.:
V2*O=L2.
,..
,.,
.
,,.
.,
-,~2w;1 = ~
:..,,.
,.
;:,
.-. .:~
...,
,,
,.
,.
m::.:.flI
I I
I I
-..
...,:
Figure
B-1 .
Mathematical
approach
76
to hollow
shaft
problem
,,
NIL-HJ)BK-776(AR)
15 September 1981
Custodian:
Army - AR
Preparing activity:
Army - AR
Review activities
Army - AV, ME
77
CDNC-0012
I
I
pR0p05AL
I
INSTRUCTIONS:
I
I
I
OCUMENT
I
I
I
I
I
I
I
Docuh4Er4T IMPROVEMENT
STANDARDIZATION
IDENTIFIER
AND
(Number)
TITLE
41L- HIIBK-776(AR)
Shafts,
Elastic
AME OF ORGANIZATIONAND ADDREW OF
Torsional
SUB
Stress
Analysis
Of
MjTTER
.
?
VENDOR
HAS
SE?
AN YPARTOF
THE
D15ANYpAR70f
A.
GIVE
B.
RECOMMEND
c.
REASON
USER
MANUFACTURER
DOCUMENT
CR EATEDPROBLEMS
IT TOORIGIO,
PARAGRAPH
NUMB
ER
AND
nE5TR4cTIv
ORREOUl
REOl
E, L005EORAMBIGU0Us?
NTEBPRETATlON
lNPR0C
pLEA5EEXPLAINBEL
,.
WORDING
I
ED WOBDING
CHANGE
I
FOR
RECOMMENCIE
DCHANGE6]
I
I
I
I
REMARKS
I
I
I
I
I
I
I
lBMITti
D BY
(fiinled
ortyped
name
andoddm$s
TELEPHONE
-Optional,
DATE
,m
Iu
.-
.-*
;:;6 l~~b
EDITION
OF
1 JAN
72 WILL
BE USED
,...
(,..
.>
r>,
., .
uNTIL
EXHAUSTED,
NO.