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1 ecuación de Willis
1.1 Rotación del transportador alrededor del equipo solar
1.2 Rotación del engranaje planetario alrededor de su propio centro de gravedad
1.3 Rotación del equipo solar
1.4 Superposición de los diferentes movimientos.
2 ecuación de Willis para engranajes planetarios
2.1 ¿Por qué hay una relación tan lineal?
3 Transmission ratios of planetary gears
3.1 Fixed sun gear
3.2 Fixed ring gear
3.3 Fixed carrier
3.4 Direct drive
3.5 Stationary transmission ratio ( xed carrier transmission ratio)
Willis equation
The speed conversion of planetary gearboxes are no longer as easy to understand as those
of stationary transmissions. This is due to the fact that the motion of the rotating planet
gears is ultimately a superposition of three di erent motions. The motion no longer consists
of a simple rotation around its own axis, but the axis itself performs an additional circular
motion around the axis of the sun gear, while the planet gear also performs an additional
circular motion because of the rotation of the sun gear.
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Thus, the motion of a rotating planet gear can be traced back to the superposition of three
separately observable motions:
1 2 3
However, the motions are not independent from each other, because the planet gear rotates
on the sun gear. Thus the diameter ratio between the sun gear and the planet gear
determines how often the planet gear rotates around its own axis while it moves once
around the sun gear.
In order to derive the relationship of the rotational speeds between the sun gear, the planet
gear and the carrier, the above-mentioned motions are rst described separately and then
superposed. For the sake of clarity, the gears are assumed to be (pitch) cylinders.
If the sun gear stands still and the planet gear is locked rm on the carrier, then the swept
angle of the carrier φ corresponds to the angular position of the planet gear φ .
C p 1
φp 1
= φC (1)
---- ---
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Figure: Rotation of the planet gear axis around the sun gear
In fact, the planet gear will roll on the sun gear when mounted rotatably on the carrier and
thus rotate around its own center of gravity. The planet gear will thus rotate by an additional
angle φ . p 2
If one considers a mere rolling motion, then the arc length si, which the carrier has covered
C
on the sun gear, corresponds exactly to the arc length si , by which the planet gear has
p 2
si
p 2 = si
C (2)
re
pags re
s
⋅ φp 2 = ⋅ φC (3)
2 2
re
s
φp 2
= ⋅ φC (4)
repags
- - - - -- - - - - -
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Figure: Rotation of the planet gear around its own center of gravity
The carrier is now held in position and the sun gear is rotated clockwise by an angle φ . In s
this case, the planet gear will turn counterclockwise by an angle φ . Analogous to the case p 3
before, the following statement applies: The arc length si at the circumference of the sun
s
gear corresponds to the arc length si , by which the planet gear has moved on its
p 3
circumference:
si
p 3
= - si
s
(5)
re
pags re
s
⋅ φp 3
= - ⋅ φs (6)
2 2
re
s
φp 3 = - ⋅ φs (7)
repags
- -- - - -- - -- - -
Figure: Rotation of the planet gear due to the rotation of the sun gear
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The negative sign indicates that the motion of the planet gear is in the opposite direction to
the motion of the sun gear.
The motions of the planet gear according to the equations (1), (4 4 ) and (7 7 ), which have
been considered separately so far, can now be superposed to the total motion:
φpags
= φp 1
+ φp 2
+ φp 3
(8)
re
s re
s
φpags
= ⋅φC + ⋅ φC- ⋅ φs (9)
re
pags
re
pags
-- - -- -- -- -- -- -- -- -- --
The angular positions φ contained in this equation result from the respective angular velocity
ω and the elapsed time t (φ = ω ⋅ t ), por lo que la velocidad angular está directamente
relacionada con la velocidad de rotación norte por ω = 2 π ⋅ n :
φ = 2 π ⋅ n ⋅ t (11)
---- ----- -
solar norte
y el transportista n :
s c
ds ds
2π ⋅ np ⋅ t = 2π ⋅ nc ⋅ t + ⋅ 2π ⋅ nc ⋅ t– ⋅ 2π ⋅ ns ⋅ t (12)
dp dp
ds ds
np = nc + ⋅ nc – ⋅ ns | ⋅ dp (13)
dp dp
np ⋅ dp = nc ⋅ dp + ds ⋅ nc – ds ⋅ ns (14)
np ⋅ dp = nc ⋅ (dp + ds ) – ns ⋅ ds (15)
np ⋅ zp = nc ⋅ (zp + zs ) – ns ⋅ zs (16)
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relaciones de transmisión según el modo de operación, que se explicará con más detalle en
la siguiente sección.
dentada. De lo contrario, surgiría un movimiento relativo, que por supuesto no puede ser el
caso con ruedas dentadas. El radio del círculo de cabeceor (o diámetro del círculo de
cabeceo d) de la corona se puede utilizar para determinar su velocidad de rotación n, ya que
la siguiente relación se aplica entre estos parámetros:
d
v = ω ⋅ r = ω ⋅ with ω = 2π ⋅ n applies : (17)
2
v = π ⋅n⋅d (18)
−−−−−−−−−
engranaje planetario se mueve con la velocidadv del transportista. Existe una relación lineal
c
entre estas velocidades (ver línea punteada negra en la gura anterior), de modo que la
velocidad circunferencial de la coronav se puede determinar para una velocidad
r
circunferencial dada del engranaje solar v y una velocidad circunferencial dada del
s
transportista v . c
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Why there is such a relative simple, linear relationship of the speeds will be shown in the
following. For the sake of simplicity, the gears are assumed to be pitch cylinders.
The motion of a point on the planet gear can be understood as the superposition of two
motions. On the one hand, the planet gear rst rotates around its own center of gravity. In
this case the typical symmetrical and linear increase of the velocity according to the equation
(17) is obtained, starting from the axis of rotation of the planet gear. The maximum speeds v p
Figure: Velocity distribution on the rotating planet gear with fixed carrier
In the center of rotation, the speed is zero as long as the planet gear axis does not move.
However, the axis of rotation now moves at the speed of the carrier v . Both motions can c
Figure: Superposition of the rotational motion and the center of gravity motion of the planet gear
The velocity of the planet gear at the outmost contact point with the ring gear points in the
same direction as the velocity of the carrier. At the innermost point of contact with the sun
gear, however, in the opposite direction. Due to the symmetrical speed distribution, the
resulting speed of the planet gear at the outermost point of contact with the ring gear is
therefore higher (v po = vc + vp ) to the same extent as it is lower at the innermost point of
contact with the sun gear ((v pi = vc − vp ).
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Figure: Superposition of the rotational motion and the center of gravity motion of the planet gear
In other words, the velocity of a point on the planet gear increases linearly, starting from the
point of contact with the sun gear. Since the speed of the carrier v is assumed to be given, c
only the speed of the planet gear at the point of contact to the sun gear v must be known in s
order to determine the circumferential speed at the opposite point of contact to the ring gear
vr .
Figure: Velocity distribution on the rotating planet gear with moving carrier
As already explained, for a mere rolling process without relative motions, the speed of the
planet gear at the contact point to the ring gear (v po
= vc + vp ) must be equal to the
circumferential speed of the ring gear v : r
!
vr = vpo (19)
vr = vc + vp (20)
−−−−−−−− −−
The same applies to the contact point between the planet gear and the sun gear. There, the
speed of the planet gear (v pi = vc − vp ) must be equal to the circumferential speed of the
sun gear v : s
!
vs = vpi (21)
vs = vc − vp (22)
−−−−−−−−−−
If we subtract equation (22) from equation (20), we obtain the following relationship between
the circumferential speeds of the sun gear v , the planet gear v and the ring gear v :
s p r
vr – vs = vc + vp − vc + vp (23)
vr = 2 ⋅ vp + vs (24)
vr vs
vp = – (25)
2 2
−−−−−−−−−−
If the relationship of equation (18) ist used in equation (25), then the relationship between
the corresponding rotational speeds is obtained:
vr vs
vp = – (26)
2 2
π ⋅ nr ⋅ dr π ⋅ ns ⋅ ds
π ⋅ np ⋅ dp = – (27)
2 2
dr ds
np ⋅ dp = nr ⋅ – ns ⋅ (28)
2 2
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The relation resulting from equation (28) can now be equated directly with the fundamental
equation (15) and one nally gets the following relation between the rotational speeds of the
sun gear (S ), the carrier (T ) and the ring gear (H ):
dr ds
nr ⋅ – ns ⋅ = nc ⋅ (dp + ds ) – ns ⋅ ds (29)
2 2
nr ⋅ dr – ns ⋅ ds = 2 ⋅ nc ⋅ (dp + ds ) – 2 ⋅ ns ⋅ ds (30)
nr ⋅ dr = 2 ⋅ nc ⋅ (dp + ds ) – ds ⋅ ns (31)
−−−−−−−−−−−−−−−−−−−−−−−−−−
Additionally, it can be used that the diameters of the ring gear, the planet gear and the sun
gear are not independent from each other. The ring gear diameter d corresponds to the r
sum of the sun gear diameter d and twice the planet gear diameter d :
s p
dr = ds + 2 ⋅ dp (32)
dr − ds
dp = (33)
2
−−−−−−−−−−−
Figure: Relationship between the pitch circle diameters and the number of teeth
This results in the planetary gear equation for classic single-stage planetary gears
(independent of the properties of the planet gears!):
dr − ds
nr ⋅ dr = 2 ⋅ nc ⋅ ( + ds ) – ds ⋅ ns (34)
2
nr ⋅ dr = nc ⋅ (dr – ds + 2 ⋅ ds ) – ds ⋅ ns (35)
nr ⋅ dr = nc ⋅ (dr + ds ) – ds ⋅ ns (36)
−−−−−−−−−−−−−−−−−−−−−−−
Since for toothed wheels the pitch circle diameters d are proportional to the number of teeth
z , the equation above can also be expressed by the number of teeth of the ring gear (z ) and r
nr ⋅ zr = nc ⋅ (zr + zs ) – zs ⋅ ns (37)
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0:00 / 0:08
Equipo solar jo
s
=
nc
nr ⋅ zr = nc ⋅ (zr + zs ) – zs ⋅ ns (38)
=0
nr ⋅ zr = nc ⋅ (zr + zs ) (39)
nr zr + zs
= is = (40)
nc zr
zs
is = 1 + 1 < i s < 2 (41)
zr
0:00 / 0:08
Ecuación (41) muestra que la relación de transmisión es siempre mayor que 1, es decir, la
velocidad de rotación disminuye en la caja de engranajes planetarios. Pero la relación de
transmisión también está limitada hacia arriba, ya que el número de dientes del engranaje
solar siempre debe ser menor que el de la corona (de lo contrario, el engranaje solar sería
más grande que la corona circundante). En el caso de limitación teórica, si el engranaje solar
es tan grande como el engranaje de anillo y, por lo tanto, ambos tienen un número idéntico
de dientes, la relación de dientes se vuelve = 1 y la relación de transmisión 2 como máximo.
zs
zr
Anillo jo
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nr ⋅ zr = nc ⋅ (zr + zs ) – zs ⋅ ns (42)
=0
0 = nc ⋅ (zr + zs ) – zs ⋅ ns (43)
ns zr + zs
= ir = (44)
nc zs
zr
ir = 1 + 2 < i r < ∞ (45)
zs
0:00 / 0:08
corona dentada y, por lo tanto, su número de dientes, en principio, se pueden elegir tan
grandes como se desee y la relación de transmisión se esfuerza hacia el in nito.
Transportista jo
Una última posibilidad para la relación de transmisión se obtiene cuando el portador no está
jo y la entrada de la caja de engranajes es realizada por el engranaje solar y la salida por la
corona dentada. En este caso, la siguiente relación de transmisióni resultados:
ns
0
=
nr
nr ⋅ zr = nc ⋅ (zr + zs ) – zs ⋅ ns (46)
=0
nr ⋅ zr =– zs ⋅ ns (47)
ns zr
= i0 = − (48)
nr zs
zr
i0 = − “stationary transmission ratio” − ∞ < i 0 < −1 (49)
zs
0:00 / 0:08
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Tenga en cuenta que, en este caso, el engranaje planetario funciona como una caja de
cambios estacionaria sin mover ejes giratorios. Por esta razón, la relación de transmisión en
el caso de una portadora ja también se denomina relación de transmisión de portadora ja
o relación de transmisión estacionaria i ! 0
Manejo directo
0:00 / 0:08
Si uno mira las ecuaciones (41), (45) y (49), entonces obviamente todas las relaciones de
transmisión también pueden expresarse mediante la relación de transmisión de portadora
ja i . Para un equipo solar jo, la relación de transmisióni luego se convierte en:
zr
0 = − s
zs
1
is = 1 − (50)
i0
Para una corona dentada ja, la relación de transmisión i se puede calcular de la siguiente
r
ir = 1 − i0 (51)
nr ⋅ zr = nc ⋅ (zr + zs ) – zs ⋅ ns (52)
zr zr
nr ⋅ = nc ⋅ ( + 1) – ns (53)
zs zs
– nr ⋅ i 0 = nc ⋅ (1 − i 0 ) – ns (54)
zr
ns = nc ⋅ (1 − i 0 ) + nr ⋅ i 0 with i 0 = − fixed carrier transmission ratio (55)
zs
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