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A. Configuration No. 1:
Gear Reduction Mechanics

General Parameters
JL =
JM =
JB =
WL =
FG =
FP =
WB =
TL =
TF =
E =
g

P =
=
M =
L =

Load inertia (oz. in. Sec )

Motor inertia (oz. in. Sec2)
Belt inertia (oz. in. Sec2)
Load weight (oz.)
Force due to gravity (oz.)
Push/Pull force (oz.)
Belt weight (oz.)
Load torque (oz. in.)
Friction torque (oz. in.)
Power transmission efficiency
(%/100)
Acceleration of gravity
(386 in./Sec2)
Leadscrew pitch
(Revolutions/inch)
Coefficient of friction (%/100)
Rotational velocity (RPM) at
motor shaft
Rotational velocity (RPM) at
load shaft
Average move velocity
(inches/min)
2

M JMG

JM

LOAD
JL,TL,TF

R MG

JM

R LG

JB

JGB = Gear Box Inertia

JLG = Load gear inertia (oz. in.
Sec2)
JMG = Motor gear inertia (oz. in.
Sec2)
RLG = Load gear radius (in.)
RMG = Motor gear radius (in.)
G = Reduction ratio, RLG/RMG
or rated gear box ratio
Parameter
Torque, T

LINEAR BEARINGS

SUPPORT
ASSEMBLY

R MP

Additional application specific parameters

VERTICAL AND
TRANSLATIONAL
DRIVE

WL

JLG

B. Configuration No. 2:
Timing Belt Mechanics

At Motor Reflected to
Shaft
Motor Shaft
TL + TF
N/A
GE

Speed, M N/A

LG

Inertia, J
discrete
gears

JM + JMG

JL + JLG
G2E

Inertia,
gear box

JM + JGB

JL/G2E

CHEMICAL BATH
CHAMBERS

J LP

LOAD
TL,TF,JL

R LP

Additional application specific

parameters
JLP = Load pulley inertia (oz. in.
Sec2)
JMP = Motor pulley inertia (oz. in.
Sec2)
RLP = Load pulley radius (in.)
RMP = Motor pulley radius (in.)
G = Reduction ratio, RLP/RMP
Parameter
Torque, T
Speed, M
Inertia, J
at motor
shaft

At Motor Reflected to
Shaft
Motor Shaft
TL + TF
N/A
GE
N/A
JM+JMP+JB

LG
JL + JLP
G2E

PINION
RACK

FIGURE 12
Example: Figure 12 illustrates equipment used in a chemical etching/
plating process

FIGURE 13
T=

WLT + FP +Fg
(RP)
E

Drive = Motor with a 10:1 Reduction

gear head (E=0.80), inertia, JGB = 0.04
oz. in. Sec2, pinion radius, Rp = 1.5,
pinion material = stainless steel, 0.5
thick. (Rack and pinion efficiency =
0.90).

(0.004)(4,000 oz) + 160 oz + 0

=
1.5= 293 oz in.
0.90

Weight = 4,000 oz., D = 24 move

on linear bearings; move time = 1
Sec. Velocity Profile: Trapezoidal for
controlled accel. and controlled decel.
Duty cycle = 1 Sec move, 8 sec rest,
repeated indefinitely. VSource= 36V DC.

for a trapezoidal move, max= 3/2TRAP

therefore, max = 230 RPM

Step 1 - Break up the analysis into

components - (1) Calculate values
of parameters at the pinion, and (2)
values reflected to the motor shaft,
through the gear head.

Calculation of load parameters at

the pinion: Figure 13D describes the
equations pertaining to a rack and
pinion system.

Page 10

L =

2RP

(24/1 Sec)(60 Sec/Min)

(2Rad/Rev)(1.5 in.)

=153 RPM, but

( EW g)R

J=

LT

2
P

+ JP

4,000 oz.
(1.5)2 + JP
0.90(386 in./Sec2)

= 26 oz. in. Sec2 + JP

From page 6, Jp = (0.0041 Sec2/in)

(1.5)4 (0.5) (4.48 oz./in3)
= 0.046 oz. in. Sec2 - i.e., negligible.
Step 2 - Calculations of total parameters at motor shaft: The gear box
equations shown in Figure 13B may
be used for these calculations.

T=

TL + TF 293 + 0 oz. in.

=
= 33 oz. in.
GE
10 (.9)

JL
+ JM + JGB
G2E
2
= 26 oz. 2in. Sec + 0.04 oz. in. Sec2 + JM
(10) .9
J=

= 0.33 oz. in. Sec2 + JM

M = (230 RPM) 10 = 2,300 RPM

Step 3 - Calculation of peak torque
requirement: From page 6 we have
TP= TJ + TL + TF = (JL+M) + TL + TF
= (0.33 oz. in. Sec2 + JM) + TL + TF,
but = (2,300 RPM/9.55) / t1 = (241
Rad/Sec)/0.333 Sec = 723 Rad/Sec2,
and TP = (0.33 oz. in. Sec2 + J) (723
Rad/Sec2) + 33 oz. in. + 0 oz. in. 272
oz. in., assuming motor rotor inertia is
small relative to reflected load inertia.
Step 4 - Calculation of RMS torque requirement: Equation (6) provides the
desired value as follows:
TRMS =

TP2 t1 + (TL + TF)2 t2 + (TJ - TL - TF)2 t3

t1 + t2 + t3 + t4

BEI - Kimco Magnetics Division

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