Ti mims Belt:fhe$ry

&*seM
.
fsfielgBeeThsffiy
't
Timing Belt Theory
lntroduction
This paper presents a thorough
explanation of geometric, loading and
deflection relationships of reinforced
urethane timing belts. It covers valuable
background for the step by step selection
procedure for the "Belt Sizing Guide"
available on the Gates Mectrol web
site. Traditional understanding of
timing belt drives comes from power
transmission applications. However, the
loading conditions on the belt differ
Geometri c Re I atl onsfiips
considerably between power
transmission applications and conveying
and linear positioning applications. This
paperpresents analysis of conveying and
linear positioning applications. Where
enlightenitrg, reference will be made to
power transmission and rotary
positioning drives. For simplicity, only
two pulley arrangements are considered
here; however, the presented theory can
be extended to more complex systems.
Belt and hilley ?itch
Belt pitch,p, is defined as the distance
between the centerlines of fwo adjacenf
teeth and is measured at the belt pitch line
(Fig. 1). The belt pitch line is identical to
the neutral bending axis of the belt and
coincides with the center line of the cords.
Pulley pitchis measured on the pitch
circle and is defined as the arc length
between the centerlines of trro adjacent
pulley grooyes (Fig:s. 7a and 1b). The pitch
circle coincides with the pitch line of the
belt while wrapped around the pulley. In
timing belt drives the pulley pitch
diameter,d, is larger than the pulley
Figure La. Belt and pulley mesh for inch series
and metric T-series, HTD and Sm
series geometry.
Figure Lh. 8"1, and pulley mesh for AT-
senes geometry.
outside diameter, do. The pulley pitch
diameter is given by
d-
P'zp
As inch pitch and metric T series belts are
designed to ride on the top lands of pulley
teeth, the tolerance of the outside pulley
diameter may causs the pulley pitch to
differ from the nominal pitch (see Fig. 1a).
On the other hand, metric AT series belts
are designed to contact boffom lands (not
the top lands) of a pulley as shown in Fig.
lb. Therefore, pulleypitch and pitch
diameter are affected by tolerance of the
pulley root diameter,d", which can be
expre$sed by
d,=d-2u,=l'zo
-21t,
IE
(r)
IE
where p is the nominal pitch and zothe
number of pulley teeth.
The radial distance between pitch diameter
and pulley outer diameter is calld pitch
dffirential, u, and has a standard value for
a given belt section of inch prtch and
mctric T series belts (see Table 1). The
pulley outside diameter can be expressed
by
do
=
d
-Zu =
P'zP
-Zu Q)
7C
The radial distance between pitch diameter
(3)
Belt section p - belt
pitch
H - belt
heisht
u - pitch
differential
h - tooth height
XL in
film
a,2w
5.1
0.090
2.3
0.0I0
0.3
0.050
1.3
Lin
urm
0.375
9.5
0.140
3-6
0.015
04
0.075
1.9
Hin
film
0.500
12.7
0.160
4.1
0.a27
0.7
0.090
2.3
)ffi in
fiIm
0.875
22.2
0.440
ll.2
0.055
1.4
0.250
6.4
T5 in
film
0.197
5.0
0.087
22
0.020
0.5
0.M7
1.2
TI.O in
mm
4394
10.0
4.177
4.5
0.039
1.0
0.098
2.5
T?fi in
fitm
4.787
20"0
0.3I5
8.0
0.059
1.5
I.500
5.0
IITD 5 in
film
o.lw
5.0
0.142
3.6
0.028
OJ
0.83
2.1
HID I in
firm
0.315
8.0
4.22A
5.6
0.028
4.7
0" 134
3.4
IITD t4 in
mm
0.55I
14.0
0"394
10.0
0.055
'1.4
0.236
6.0
STI)5 in
ilIm
0.197
5.0
0.134"
3,4
0.028
0.7
0.075
1.9
STD I in
iltm
0.315
8.0
0.205
5.2
0.028
0.7
0.1 I
3.0
STD 14 in
mm
0.55I
14.0
o-402
10.2
0.055
1.4
a.2w
5"3
Table L
Belt section p - belt
pitch
H - belt
heisht
u7 - pitch
differential
h - tooth
heisht
ATSin
ilrm
0.797
5.0
0. 106
2.7
0.077
2.0
0.047
1.2
AT1.0 in
firm
a394
10.0
4.177
4.5
0.138
3.5
0.098
2,.5
AT20 in
iltm
0.787
20.0
0.315
8.0
4.256
6.5
0.r97
5.0
Table 2
and root diametet, il,, has a standard value
for a particular AT series belt sections (see
Table 2).
Belt l*ngth and Csnter Distance
Belt length, L, is measured along the pitch
line and must equal a whole number of
belt pitches (belt teeth), ea
For drives with two unequal pulley
diameters (Fig. 2) the following
relationships can be written:
Angle af wrap, 0t, &tound the small pulley
ot=2arccorl.++) (6)
\
2.C
)
where d, and dr are the pitch diameters of
the small and the large pulley,
respectively.
Angle af wrop, 02, wound the large pulley
$z=Z'tr-q
0)
Span length, L,
L- 2-C +fi.d (s)
L- p'zu (4)
Most linear actuators and conveyors are
designed with two equal diameter pulleys.
The relationship between belt length, L,
center distance, C, and pitch diameter, d,
is given by
Figure 2. Belt drive with unequal pulley diameters.
Ls=c,"(?)
r,-z c
"{?).
e,
*
Belt lerugth, L
+(z.n*or)
*
Since angle of wrap,&, is a function of the
center distance, C, Eq. (9) does not have a
closed form solution for C. It can be
solved using any of available numerical
methods.
An approximation of the center distance as
a function of the belt length is given by
Y+
(*
(10)
4
where
y-
L-n'(ar+at)
2
(8)
(e)
*2'@r*
d.r)'
A timing belt transmits torque and motion
from a driving to a driven pulley of a
power transmission drive (Fig. 3), or a
force to a positioning platform of a linear
actuator (Fig. 4).In conveyo$ it may also
carry a load placed on its surface (Fig. 6).
Torque, Effective Tension, Tight and
Slack Side Tension
During operation of belt drirrre under load a
difference in belt tensions on the entering
(tieh$ and leaving (slack) sides of the
Te
=q-fz
Figure 3- Power transmission and rotary positioning.
driver pulley is developed. It is called
effective tension,I", and represents the
force transmitted from the driver pulley to
the belt
where I, and Tz are the tight and slack side
tensions, respectively .
The driving torque, M (M, in Fig. 3), is
given by
(1 r)
M
=7,
where d (d, in Fig. 3) is the pitch diameter
of the driver pulley.
The effective tension generated at the
driver pulley is the actual working force
that overcomes the overall resistance to the
belt motion. ft is necessary to identify and
quantify the sum of the individual forces
acting on the belt that contribute to the
effrective tension required at the driver
pulley.
In power transmission drives (Fig. 3), the
resistance to the rnotion occurs at the
driven pulley. The force transmitted frorn
the belt to the driven pulley is equalto 7".
The following expressions for torque
requirernent at the driver can be written
is the power requirement at the driven
pulley, ch and &rz are the angular speeds of
the driver and driven pulley respectively,
dr and d,z arc the pitch diameters of the
driver and driven pulley respectively, and
q is the efficiency of the belt drives
(q
=
a.94
*
0.96 typically). The angular
speeds of the driver and driven pulley rr7
and oD are rcIated in a following form:
d
2
(t2)
(13)
@2= a1l '!L
-d2
lC 'fll,2
(!)r't
=
-
LTL
30
(14)
The relationship between the angular
speeds and rotational speeds is given by
(rs)
where Mr is the driving torqre, klz is the
torque requirement at the driyen pulley, P2
where
fu
afid fl,2 ?ta rotational speeds of
the driver and driverr pulley in revolutions
per minute
[rpmJ,
and
(&
and crrz are
angular velocities of the driver and driven
pulley in radians per second.
In linear positioners (Fig. 4) the rnain load
acts at the positioning platform (slider). It
consists of acceleration force F, (linear
acceleration of the slider), friction force of
the linear bearing, Fy, external force (work
M,
=T
-d'
=M'
-d'
Lezqd2
P^
-d,
n
=-L
tDz
.\ -
d, 0t
-Tl
Lt
Figure 4. Linear positioner - configuration L
{
I.
+_
I
\
\
load), Fo, component of weight of the slide
Fr parallel to the belt in inclined drives,
inertial forces to accelerate belt, F*, and
the idler pulley, F* (rotation)
Te= Fo* Ff + F** Fr* Fou* For (16)
The individual components of the effective
tension, Tr, are given by
Fa=ms.a (17)
where nr, is the mass of the slider or
platform and a is the linear acceleration
rate of the slider,
Ff=ltr.ms.g.COsfr+Fn
(21)
where
Ji is the inertia of the idler pulley, a
is the angular acceleration of the idher, mr
is the mass of the idler, d is the diameter of
the idler and
&
is the diameter of the idler
bore (if applicable).
An alternate linear positioner arrangement
is shown in Fig. 5. This drive, the slide
houses the driver pulley and two idler rolls
that roll on the back of the belt. The slider
moves along the belt that has both ends
clamped in stationuy fixtures.
Similar to the linear positioning drive such
as configuration I' the effective tension is
comprised of linear acceleration forca Fo,
friction force of the linear bearing, Fp
external force (work load), Fn, component
of weight of the slide F, parallel to the belt
in inclined drives and inefiial force to
accelerate the idler pulleys, F6 (rotation)
Te
=
Fo* Ff + F** Fr*2-Fot
QZ)
The individual components of the effective
tensio'o, Tr, are given by
Fa
={*r**p+Z.rry)-,
(23)
tr .
-2'J,-'a 'an
d
=ry[,.#)"
(18)
where
&
is the dynarnic coefficient of
friction of the linear bearing (usually
available from the linear bearing
manufacturer), .F,n is a load independent
resistance intrinsic to linear motion (seal
drag, preload resistance, viscous resistance
of the lubricirrt, etc.) and
F
ir the angle of
incline of the linear positioner,
Fs
=
ms' g'sinB
Fou
*
wb'-L"
'? 'a,
o
o
where f, is the length of the belt, D is the
width of the belt, w6 is the specific weight
of the belt and g is the gravity,
(te)
Q0)
Linear positioner - configuration II. Figure 5.
/
Figure 6. Inclined conveyor with material accumulatiorr.
where rn, is the mass of the slider or
platforilr, mp is the mass of the driver
pulley, nti is the mass of the idler rollers
and a is the translational acceleration rate
of the slider,
Ff
= {trfu,
*mp +Zmr)
s'cosB
(24)
+ Ffr,
where
&
is the dynamic coefficient of
friction of the linear bearing, Ffr is a load
independent resistance intrinsic to linear
motion and
f
ir the angle of incline of the
linear positioner,
Fs
=
t*,
* *p +Z.ry)
.S .sinp
(25)
where
F
i* the angle of incline of the linear
positioner,
angular acceleration of the driver pulley,
miis the mass of the idler, d is the
diameter of the driver, dr is the diameter of
the idler and
&
is the diameter of the idler
bore (if applicable).
In inclined conveyors in Fig. 6, the
effective tension has mainly two forces to
overcome: friction and gravitational
forces. fiie component of the friction force
due to the conveyed load, Fr, is given by
llc nc
Ff
= [t'XNtrl = lt'cos fi'ZWtrl
(27)
t=t ft=1
where p is the friction coefficient befween
the bett and the slider bed, Na is a
component of weight, W6y of a single
conveyed package perpendicular to the
belt, rc, is the nurnber of packages being
conveyed, index Ir desigrrares the ke piece
of material along the belt and
P
is the
angle of incline. Vfhen conveying granular
rnaterials the friction force is given by
Fo
=r.?
2"
=ffitt.
#\"
(26)
where
"I;
is the inefiia of the idler pulley
reflecfsd to the driver pulleg rris the
/'
Figure 7. Vacuum conveyor.
Ff
= lt.wm.L*cosB
(28)
where ws is weight distribution over a unit
of conveying length and L* is the
conveying length.
Some conveying applications include
material accumulation (see Fig. 6). Here
an additional friction component due to
the material sliding on the back surface of
the belt is present and is given by
na
Ffn
=
Qt+
Irr)-
ENrol
k=r
eg)
ne
=(p+ ltr)-cosp.
IW*t
k=1
where no is the number of packages being
accumulated and
,t
is the friction
coefficient between belt and the
accurnulated material. Similar to the
expression for conveying, Eq. (29) can be
rewritten as:
Ffo
=
{P+
ttr)'w*o
' LacosB (30)
where wnq is weight distribution over a
unit of accumulation lenglh and Lois the
accumulation length.
ri
The gravitational load, Fu, is the
component of material weight parallel to
the belt
nr*no
Fs
=sinp.
IWtol
(31)
k=l
Note that the Eq. (31) can be also
expressed as
Fg
=
(**. Lm*wrr*. La).*iop
$2)
In vacuum conveyors (Fig .l)normally, the
main resistance to the motion (thus the
main component of the effective tension)
consis8 of the friction force Fg created by
the vacuurn between the belt and slider
bed. Fro is given by
Ffr
-
tt.P.Av
(33)
where P is the magnitude of the vacuum
pressure relative to the atmospheric
pressure and A, is the total area of the
vacuum openings in the slider bed. A
uniformly diitributed pressure accounts for
a linear increase of the tight side tension as
depicted in Fig.7 .
)J-\J-\J-\l-lllJ-\J-)J-V-\t-\J-IJ-iJ-!I-}J-}J-L4-g-IJ-\4 t'
P vacuum chamber
\'-1"
/ P
Shaft
forces
Force equilibrium at the driver or driven
pulley yields relationships between tight
and slack side tensions and the shaft
reaction forces Frl or Fr2. In power
transmission drives (see Fig. 3) the forces
on both shafts are equal in magnitude and
are given by
FsL,z
=
lr?
+$
-z"TL-Tz-cos01
(34)
where 07 is angle of belt wrap around
driver pulley.
Note that unlike power transmission
drives, both linear positioners (FiS 4) and
conveyors (Figs. 6 and 7) have no driven
pulley - the second pulley is an idler.
In conveyor and linear positioner drives
the shaft force at the driver pulley, Fr7, is
given by
Frr
=
(35)
when 0t * 0z * 180" (unequal pulley
diameters) and by
4r =
Ti * Tz (36)
whe,n 0r
=
0z=180" (eqgalpulley
diameters), where
&
is angle of belt wrap
around idler pulley.
The shaft force at the idler pulley, Fs2,
when the load (conveyed rnaterial or
slider) is moving toward the driver pulley
is given by
Frz
=
lrf
*Tr''
-Z.Tz-T;'
.coso2
G7)
when 0r * 0z * 180" or by
Fr?
-
Tz * Tz (3S)
when 0t
=
0z
=
180" . T;,' is given by
where Foiis given by Eq. (21).
However, when the load is moving away
from the driver pulley the shaft force at the
idler pulley, F
sz,
is given by
Fsz
=
lr?
+ TJ
-2.71
.T; .cos01
(40)
when 0t * 0z * 180" or by
Frz
-
Tt+ 7, (41)
when 0t
=
0z
=
180" . t', is given by
r,
-
Tt
-
For
$2)
Eqs. (39) and (42) as$ume no friction in
the bearings supporting the idler pulley.
Observe that during constant velocity
motion Eq. (38) can be expressed as
Frz
-
2'Tz (43)
The $ame applies to Eq. (41).
In linear positioning drives such as
"configuration If' (shown in Fig. 5) the
shaft force of the driver pulley, Frr, is
given by Eq. (35). The shaft forces on the
idler rotlers can be expressed by
,
p,z
= ,lr?
+r;2
-2.71
.T; .coso2
r';
=
(44)
whete
prz
is the shaft force at the idler on
the side of the tight side tension
,A'z
is the
angle of belt wrap around the idler pulley
on the side of the tight side tension,
4z
is
tfre shaft force at the idler on the side of
the slack side tension and02 is the angle
of belt wrap around the idler pulley on the
side of the slack side tension. Tension
rz
=T;*
For (3e)
10
forces ft and T; are given by Eqs. (39)
and (42).
In the drive shown in Fig. 5 0t
=
180" and
0'z
=
0'z
=90o,
and the shaft force at the
driver pulley is given by Eq. (36) and the
shaft forces at the idler rollers become
Frz
=
fro=
(4s)
r? +T"2
Observe that in reversing drives
flike
linear positioners in Fig . 4) the shaft force
at the idler pulley, Fs2, changes dependrng
on the direction of rotation of the driver
pulley. For the s:rme operating conditions
Frz is larger when the slider moves away
from the driver pulley.
To determine tight and slack side tensions
as well as the shaft forces (2 equations
with 3 unknowns), given either the torque
M or the effective tension Tr, afi additional
equation is still required.
'fhis
equation
will be obtained from analysis of belt pl18-
tension methods prsssnted in the next
section.
Belt Pre-tension
The pre-tension, Ti, (somefimes refened to
as initial tension) is the belt tension in an
idle drive (Fig. 8).'When belt drive
operates under load tight side and slack
sides develop. The pre-tension prevents
the slack side from sagging and ensures
proper tooth meshing. [n rnost cases,
timing belts perform best when the
magnitude of the slack side tension, Tz, is
LUVa to 30%o of the magnitude of the
effective tension, I,
In order to determine the necessary pre-
tension we need to examine a particular
drive configuration, loading conditions
and the pre-tensioning method.
To pre-tension a belt properly, on
adjustable pulley or idler is required (Figs.
3,4,6 and 7). In linear positioners where
open-ended belts are used (Figs. 4 and 5)
the pre-tension can also be attained by
tensioning the ends of the belt. In Figs. 3
to 7 the amount of initial tension is
graphically shown as the distance between
the belt and the dashed line.
Although generally not recommended, a
configuration without a mechanism for
adjusting the pre-tension may be
implemented. In this qpe of design, the
center distance has to be determined in a
way that wiII ensure an adoquate pre-
tension after the belt is installed. This
method is possible because after the initial
tensioning and straighterring of the belt"
there is practically no post-elongation
(creep) of the belt. Consideration must be
given to belt elasticity, stiffness of the
structure and drive tolerances.
Drives with a
fixed
center distance ate
attained by locking the position of the
adjustable shaft after pre-tensioning the
belt (Figs" 3,4,6 and 7). The overall belt
length remains constant during drive
operation regardless of the loading
conditions (belt sag and some other minor
influences are neglected). The reaction
force on the lrcked shaft generally changes
under load. We will show later that the
slack and tight side tensions depend not
only on the load and the pre-tension" but
also on the belt elasticity, Drives with a
fixed center distance are used in linear
positionin& conveying and polver
transmission applications.
+ Tr'2
q e (0.1,...,0.3)
-r,
(46)
11
h)
/t
ez
A-
\
,\,
\_j
tr'tgure 9. Power tansmission drive with the constant slack side tension.
Drives with a constant slack side tension
have an adjustable idler tensioning the
slack side which is not locked (floating)
(Figs. 9 and 10). During operation, the
consistency of the slack side tension is
maintained by the external tensioning
force, Fr. The length increase of the tight
side is compensated by a displacement of
the idler. Drives with a constant slack side
tension may be considered for some
conveying applications.
Resolving the Tension Forces
Drives with a constant slack side tension
have an external load system, which can
be determined from force analysis alone.
Force equilibrium at the idler gives
f,*TL= (47)
wher,e F, is the external tensioning force
andQ is the wrap angle of the belt around
the idler
f;igs.
9 and 10).
Eq.
{47)
together with Eq. (11) can be used
to solve for the tight side tension, T1, fls
well as the shaft reactions, Fs and Frz.
Drives with afixed center distance (Figs.
3,4,6 and 7) have an external load
system, which cannot be determined from
Fe
Z.sirr(
?)
Tz=fr
Ffr
Tt
Figure L0. Yacuum conveyor with the constant slack side tension.
T2
force analysis alone. To calculate the belt
tension forces, Tt and Tz, an additional
relationship is required. This relationship
can be derived from belt elongation
analysis. Pulleys, shafts and mounting
stnrctures are assumed to have infinite
rigidity. Neglecting the belt sag as well as
some phenomena with little contribution
(such as bending resistance of the belt and
radial shifting of the pitch line explained
later), the total elongation (deforrnation) of
the belt operating under load is equal to
the total belt elongation resulting frorn the
belt pre-tension. This can be expressed by
the follouring equation of geonneric
compatibitity of deformation :
AI,t1 * AIez + l(
t,n =
(48)
&i+414,+M*,
where AL17 and AL22 are tight and slack
side elongation due to Tr and Tz,
respectively, LL*, is the total elongation
of the belt portion meshing with the driver
(and driven) pulley, My, LLz; and M*i
are the respective deformations caused by
the belt pre-tension,
fi.
For most practical cases the difference
between the deformations of the belt in
contact with both pulleys during pre-
tension and during operation is negligible
(['
n,
*
AL*;
)-
Eq- (48) can be simplified
LI41 * LI4z
=
ALr, + Lhi (49)
Tensile tests show that in the tension rarige
timing belts are used, sftess is proportional
to strain. Defining the stiftess of a unit
long and a unit wide belt as specific
stffiess, csp, the stffiess coefficients of
the belt on the tight and stack side, kl and
k2,une expressed by
\=csp
(50)
kz
=
csp '
P-
'
h
where Lt andl,z are the unstretched
lengths of the tight and slack sides,
respectively, &rd D is the belt width. Note
that the expressions in Eq. (50) have a
similar form to the formulation for the
a:ria1 stiffiiress of a bar fr
=
g - L
where E
I
is Young's modulus, A is cross sectional
area and I is the Iength of the bar.
It is known that elongation quals tension
divided by stiffness coefficient
,
AI
=L,
k
provided the tension force is constant over
fhe belt length. Ttrus, Ee.
@9)
can be
expressed as
I
*
Tz
=3-*!t
hkzhkz
14
(s 1)
Combining expressions for the stiffrress
coefficients, Eq. (50) with Eq. (51) the
tight and slack side tensions, T1 and Tz,
are given by
11
=\+r-#=q+r,+
(52)
and
Tz=Ti-7,
h
-T -T-b
(53)
e
lrt+Ie
't 'e
L
where f, is the total bett length, Lr and Lz
are the lengths of the tight and slack sides
respectively. Using Eqs. (52) and (53) we
can find the shaft reaction forces, F*r and
F
rz.
In practice, a belt drive can be designed
such that the desired slack side tension,72,
is equal to lAVo b 30Vo of the effective
13
tension, T, (see Eq. (46)), which secures
proper tooth meshing during belt drive
operatiorl. Then Eq. (53) can be used to
calculate the pre-tension ensuring that the
slack side tension is within the
reconunended range.
As mentioned before, Eqs. (51) through
(53) apply when tight and slack side
tensions are constant over the length. In all
other cases the elongation in Eq. (49) must
be calculated according to the acftal
tension distribution. For example, the
elongation of the conveying length I, over
the vacuum chamber length presenfed in
Fig. 7, cavsed by a linearly increasing belt
tension, equals the mean tensiott, f
,
where
f
=\-*,
divided by the stiffrressfr,
2
where k,
=
b
=
csP; of this bett porlion, f is
the belt width,
h
is the length of the
vacuum charrrber T1 and T2 arethe
tensions at the beginning and end of the
vacuum chamber stretch, respectively"
Considering this, Tr and Iz can be
exprsssed by
4r
Figure LL. Tooth loading.
calculated over the conveying and
accumulation length, L** Lo. The
distanc e, i (0 < L < L*+ Lo),from the
beginning of the conveying length to the
location on the belt coffesponding to the
mean tension
,f ,drould
be calculated- The
modified tight and slack lengths take on
the following form:
*A
Lt=14+L*+Lo-L
(s6)
$=h+i
Tooth Loading
Consider the belt in contact with the driver
pulleys in belt drives presented in (Figs. 3
to 10). Starting at the tight side, the belt
tension along the arc of contact decreases
wlth every belt tooth. At the kth tooth, the
tension forces ffr and T**r are balanced by
the force F* at the toothll*nk (Fig. 11).
The force equilibrium can be wriffen as
dx- \
4r*i
14+b
?i**
=4*Tr#
Ir+
In
rz*rr-fr*Te+ (55)
Substituting t;
=
I4++ and
2
I:z=
\++
Eqs. (54) and (55) can be
expressed in the forrn of Eqs. (52) and
(53), respectively.
A similar analysis can be prfiormed for
the conve)or drive in Fig. 6, with fhe belt
elongation due to the rnean tension
(s4)
(s7) T* *To*r* Fr*
-
Q
L4
Figure 12. Position error - linear positioner under static loading condition.
In order to fulfill the equilibrium
condition$, the belt tooth inclines and
moves radially outwards as shown in Fig.
11. In addition to tooth deformation, tooth
shifting contributes fo the relafive
displacement between belt and pulley,
hence to the tooth stiffness.
Theoretically, the tooth stiffrress increases
with increasing belt tension over the tooth,
Positioning Error of Timing Belt
Drives Due to Belt Elasticity
which has also been confirmed
empirically. Thi$ results in the practical
recommendation for linear actuators to
operate under high pre-tension in order to
achieve higter stiffiress, and hence, beffer
positioning accuracy. However, to simplify
the calculations, a constant value for the
tooth stffiess,k6 is used in the formulas
presented in the next section.
To detennine the positioning error of a
linear actuator, caused by an external force
at the slide, the stiffiress of tight and slack
sides as well as the stiffness of belt teeth
and cords dong the arc of contact have to
be considered. Since tight and slack sides
can be considered as springs acting in
parallel, their stiffness add linearly to fbrm
a resultant stffiess (.rprimg
)
constsnt k,
the resultant spring constant depend on the
position of the slide. The resultant stiffrress
exhibits a minimum value at the position
where the difference between tight and
slack side length is minimum.
To determine the resultant stiffne,s.s of the
belt teeth and cords in the teeth-in-mesh
&nefi, k*, observe that the belt teeth are
deformed non-uniformly and act in a
parallel like arrangement with reinforcing
cord sections, but the belt sections
between them are connected in serie$. The
solution to the problem is involved and
kr=kr+k2=cs
-b4!I"
t4"h
(58)
In linear positioners (Figs. 12 and 13), the
length of tight and slack side and tlrerefore
15
beyond the scope of this paper but the
result is presented in Graph 1. The
ordinate is made dimensionless by
dividing Ic, by the tooth stiffness k. Graph
1 shows that the gradient of k* (indicated
by the slope of the cume) decreases with
increasing number of teeth in mesh.
Defining fhe ratio+- as fhe virtual
kt
number of teeth in mesh, z*r,
corresponding to the actual number of
teeth in mesh z* the stiffness of the belt
and the belt teeth around the arc of contact
is
k*= 1*,
'k, (5e)
Observe that the virtual number of teeth in
mesh, zmv, remains constant and equals 15
for the actual number of belt teeth in mesh
z*2 15. The result of this is that the
maximurn number of teeth in rnesh that
carry load is 15.
In linear positioners the displaeement of
the slide due to the elasticity of the tight
and slack sides has to be added to the
displacement due to the elasticity of the
belt teeth and cords in the teeth-in-mesh
area. Therefore, the total drive stffiess, k,
is determined by the following formula:
(60)
In drives with a driven pulley (power
transmission drives) an additional term:
1
-
must be added to the right-hand side
krrtz
of Eq. (S). This term introduces the
stiffness of the belt and beh teeth around
the driven pulley.
The static positioning error, Ar of a Iinear
positioner due to the elasticity of the belt
cords and teeth is
(61)
urhere fL is fhe static (exfenral) force
remaining at the slide. In Fig. L2, for
example, Fr, is comprised of Ir/ and Fn,
and it is balanced by the static effective
tension Test at the driver pulley.
fire additional rotation angle, Lg of the
driving pulley necessary for exact
positioning of the slide is
111
I
kk,k*
Ar=
Fn
k
tr'igure 13. Following error - linear positioner under dpamic loading condition.
t6
4)
///i
o2468101214161820
NderofTee&inMesbz-
Graph 1, Correction for the number of teeth in mesh (virtual # of teeth in mesh vs.
actual # of teeth in mesh)
I6
I4
-
ric
a\
,-
Hte
(u
f!{
a
gro
-
-
f
(t)
{t
t{B
t{
Y'
t
g6
-
E
E
Z4
*
fit
!t
i
ia
lr G.
:rF( 4.
o
. M
-Test
L,tP=-=
-r
kq
d.k
2
Substituting M from Eq. (12) in Eq. (62\
the relationship between linear sffiess, k,
and rotatfonal stffie,ss, frob can be
obtained
dz
-k
Observe that using pulleys with a larger
pitch diameter increases the rotational
stiffrress of the drive, but also increases the
torque on the pulley shaft and the inertia of
the pulley.
Metric AT series belts have been designed
for high perfiormance linear positioner
applications. Utili zing optimi zed, larger
tooth section and stronger steel reinforcing
tension members these belts provide a
significant increase in tooth stiffrres$ and
overall belt stiffness.
(62)
ka (63)
\7
@rr?E.Iffig-
ffiIESSGIniltLIffi
9M[hi$e
Sahra HH {}ml$, $.SA
H+I{ffi}ffiFISIS
H.+1
tffi)3gi{-{8,{{
Fu+l
{ffi}ffi}-ISIS
enralh appsQatmnffid.cffiI
Gffi *tucmt h a qlxerud ffi dG#s tteffi
hcsrpffi. fifi after eadem*s t# Hctt
ae tte popertydilnb rnspmirc {Esnrs.
e Copp{lr*AnG#s Mecrrd *rmpr*a An rUB
remn#" ISfiS
ffiHllrerr_tn*tls
ultww.sffiml.com