HOOKE'S JOINT ANALYSIS

OBJECTIVE
The objectives of this experiment are: (1) (2) To investigate the kinematic characteristics of a universal joint (a Hooke's joint). To determine the effect of using this type of joint to transmit uniform motion.

DISCUSSION
A complete theoretical development of motion transmitted through a Hooke's joint can be found on pages 62 through 64 of Kinematics and Dynamics of Machines by George Martin. A summary of this motion analysis (using the notation shown in Figure 1) is given below:

Pin

3 3

Input Shaft

Output Shaft

Figure 1.

Hooke's Joint

Angular displacement relationship: tan 3 = tan 2 cos Angular velocity relationship: 3 cos = 2 2 1 - sin 2 sin 2 Angular acceleration relationship (This assumes a constant angular speed of link 3 - i.e. 2 = constant, 2 = 0): 3 = ( 2 ) 2 cos sin 2 sin 2 2 (1 - sin 2 2 sin 2 ) 2 (2) (1)

(3)

Hooke's Joint Analysis

PROCEDURE
All of the experiments are to be performed on the Hooke's joint apparatus. (1) Single Joint For this section the intermediate shaft ant the output shaft are always aligned in a straight line. Determine the angular displacement ratio between the input and output shafts for five different angles between the input and output shaft. Use the angles for of 10o, 20o, 30o, 40o, and 50o. For each of these configurations record the output angle (3) and the error (3 - 2) for 30o intervals of the input shaft (2). Use Table 2 to record your results. (2) Two Joints - Parallel Output Shaft Adjust the Hooke's joints on either end of the center shaft such that the axes of the pins (for the two portions on the center shaft) are parallel. (a) Arrange the shaft as shown in Figure 2. Record 3 and 4 for 30o intervals of the input shaft (2). Use Table 3 to record your results. (b) Put the mechanism in the configuration of Figure 3 and record 5 for 30o intervals of the input shaft (2). Use Table 3 to record your results. (3) Two Joints - Perpendicular Output Shaft Adjust the Hooke's joints on either end of the center shafts such that the axes of the pins are perpendicular. (a) Arrange the shaft as shown in Figure 2. Record 3 and 4 for 30o intervals of the input shaft (2). Use Table 3 to record your results. (b) Put the mechanism in the configuration of Figure 3 and record 5 for 30o intervals of the input shaft (2). Use Table 3 to record your results.

2 Input Shaft 3 Intermediate Shaft

45

2 Input Shaft 3 Intermediate Shaft

45

5 Output Shaft (Perpendicular to input shaft)

Output Shaft (Parallel to input shaft)

Figure 2. Output Parallel to Input

Figure 3. Output Perpendicular to Input

Hooke's Joint Analysis

REPORT
Single Joint Results:
(1) (2) Complete Table 2 summarizing the results of part (1) of the procedure. Plot the angle error (err = 3 - 2) versus the input angle (in = 2) for each of the five angles between the shafts ()found in Table 1. Plot all five curves on the same graph (Graph 1). Using equation (1) from the Discussion section, calculate the output angle error for = 30o and plot these results on Graph 1. Explain any difference between your results and the theoretical results for err for = 30o.

(3)

(4)

Two Joint Results:

(5) (6) Complete Table 3 summarizing the results of parts (2) and (3) of the procedure. Plot the angle errors (err = i - 2, i = 3, 4, 5) versus input angle (in = 2) for each of the three output angles (3, 4, and 5) for the parallel pin configuration. Plot all three on the same graph (Graph 2). Plot the angle errors (err = i - 2, i = 3, 4, 5) versus input angle (in = 2) for each of the three output angles (3, 4, and 5) for the perpendicular pin configuration. Plot all three on the same graph (Graph 3). Discuss the results obtained from using two universal joints. Include comments on output versus input shaft orientation and on the relationship between the universal joint installation (pin orientations).

(7)

(8)

Angular Speed Variation Analysis:

(9) Use equation (2) to determine the maximum and minimum angular velocity ratios between the output and input shafts (3/2) for various angles between them ( = 10, 20, 30, 40 and 50). Hint: determine the angle 2 at which the maximum ratio occurs, and then the angle 2 at which the minimum ratio occurs. Complete the following table:

Table 1. Angular Velocity Ratio Analysis

Angle between shafts, Maximum speed ratio, 3/2 Minimum speed ratio, 3/2
10 20 30 40 50

Hooke's Joint Analysis

Table 2. Single Joint Analysis

Input Angle in = 2 0o Output Angle out = 3 out err 30o out err 60o out err 90o out err 120o out err 150o out err 180o out err 210o out err 240o out err 270o out err 300o out err 330o out err Note: err = out - in err = 3 - 2 10o Angle Between Shafts, 20o 30o 40o 50o

Hooke's Joint Analysis

Table 3. Two Joint Analysis

Input Angle in = 2 0o Output Angle out out err 30o out err 60o out err 90o out err 120o out err 150o out err 180o out err 210o out err 240o out err 270o out err 300o out err 330o out err Note: err = out - in err = i - 2 3 Parallel Pins 4 5 Perpendicular Pins 3 4 5

where i = 3, 4, or 5