THREE-DIMENSIONAL GEARS MODELLING IN MULTIBODY SYSTEMS ANALYSIS

We present a formulation for describing gear pairs in the three-dimensional analysis of exible mechanisms. The set of holonomic and non-holonomic constraint equations that de nes the behaviour of gears is developed. The formulation is capable of representing almost any kind of gears used in industry: spur gears, bevel gears, hypoid gears, etc. All reaction forces due to gear engagement are accounted for. Coulomb friction forces due to relative sliding motion are also considered. Gear trains and planetary systems can be easily modelled by superposing several gear pairs in the same system.