Professional Documents
Culture Documents
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Outline I
1 Shaft Basics
Shaft Materials
Shaft Layout
2 Shaft Loads
Shaft stresses
Stress concentration
Shaft Failure
3 Shaft Design
General guidelines
ASME shaft design
Equivalent stress in shafts
Design based on Goodman theory
Example Problem
Design data
Design of a shaft for deflection
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Outline II
4 Design of Keys
Types of Keys
Stresses in Keys
Key Materials
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Shaft Basics
Shaft Basics
What is a shaft?
A shaft usually is a rotating element which transmits torque from a
driving device
Shafts usually carry other machine elements such as gears,
pulleys, sheaves or sprockets
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Shaft Basics Shaft Materials
Shaft Materials
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Shaft Basics Shaft Layout
Shaft Layout
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Shaft Basics Shaft Layout
Stress raisers
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Shaft Loads
Shaft loads
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Shaft Loads
Shaft loads
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Shaft Loads
Shaft loads
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Shaft Loads
Shaft loads
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Shaft Loads
Shaft loads
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Shaft Loads Shaft stresses
Shaft stresses I
Ma y Mm y Ta r Tm r
σa = kf , σm = kfm τa = kfs , τm = kfsm
I I J J
For a solid circular shaft, y = d/2 For a solid circular shaft, r = d/2
and I = πd 4 /64. and J = πd 4 /32.
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Shaft Loads Shaft stresses
Shaft stresses II
Axial stresses
A tensile axial stress: usually a mean component only
Fz 4Fz
σmaxial = kfm = kfm 2
A πd
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Shaft Loads Stress concentration
Stress-concentration effects
Stress-concentration with fluctuating stresses
The alternating component should be treated the same way as the
fully reversed case. The local alternating stress:
σa = kf σanom , kf = 1 + q(kt − 1)
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Shaft Loads Stress concentration
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Shaft Loads Stress concentration
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Shaft Loads Shaft Failure
Combined
torsion and
bending of
ductile
materials in
fatigue is found
to follow elliptic
relationship.
Gough ellipse
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Shaft Design
Shaft design
Key points J
Shafts should be designed for both stress and deflection
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Shaft Design
Shaft design
Key points J
Shafts should be designed for both stress and deflection
Stresses can be calculated at various locations by knowing the
approximate cross section at the point
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Shaft Design
Shaft design
Key points J
Shafts should be designed for both stress and deflection
Stresses can be calculated at various locations by knowing the
approximate cross section at the point
Deflection calculation requires the knowledge of the entire
geometry
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Shaft Design
Shaft design
Key points J
Shafts should be designed for both stress and deflection
Stresses can be calculated at various locations by knowing the
approximate cross section at the point
Deflection calculation requires the knowledge of the entire
geometry
Hence, the shafts are first designed for stress and then for
deflection
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Shaft Design General guidelines
Shaft design
General guidelines
Minimize deflection and stress: the length should be kept as short
as possible
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Shaft Design General guidelines
Shaft design
General guidelines
Minimize deflection and stress: the length should be kept as short
as possible
Avoid overhangs
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Shaft Design General guidelines
Shaft design
General guidelines
Minimize deflection and stress: the length should be kept as short
as possible
Avoid overhangs
Locate stress raisers away from regions of large bending moment
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Shaft Design General guidelines
Shaft design
General guidelines
Minimize deflection and stress: the length should be kept as short
as possible
Avoid overhangs
Locate stress raisers away from regions of large bending moment
Deflections at gear mount positions should not exceed 0.005
inches
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Shaft Design General guidelines
Shaft design
General guidelines
Minimize deflection and stress: the length should be kept as short
as possible
Avoid overhangs
Locate stress raisers away from regions of large bending moment
Deflections at gear mount positions should not exceed 0.005
inches
Operational/forcing frequency of the shaft should be far away (10
times smaller) from its natural frequency
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Shaft Design General guidelines
Shaft design
General guidelines
Minimize deflection and stress: the length should be kept as short
as possible
Avoid overhangs
Locate stress raisers away from regions of large bending moment
Deflections at gear mount positions should not exceed 0.005
inches
Operational/forcing frequency of the shaft should be far away (10
times smaller) from its natural frequency
Refer to Norton’s text book on several other guidelines.
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Shaft Design ASME shaft design
σa 2 τm 2
n + n =1
Se τy
√
Note that τy = Sy / 3 and hence,
σa 2 √ τm 2
n + n 3 =1
Se Sy
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Shaft Design ASME shaft design
Note J
For a rotating shaft with constant bending moment and torsion, the
bending stress is completely reversed and the torsion is steady. In that
case, the above equation can be simplified by setting Mm = 0 and
Ta = 0.
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Shaft Design Equivalent stress in shafts
" 2 2 #1/2
1/2 32kf Ma 16kfs Ta
σae = σa2 + 3τa2 = +3
πd 3 πd 3
" 2 2 #1/2
e
2
1/2 32kfm Mm 16kfsm Tm
σm = σm + 3τm2 = +3
πd 3 πd 3
Note:
e should have contribution from σ
Ideally, σm maxial also which is neglected
in the above equation.
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Shaft Design Design based on Goodman theory
J
Goodman line
1 σe σe
= a + m
n Se Sut
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Shaft Design Design based on Goodman theory
Goodman line J
1 σe σe
= a + m
n Se Sut
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Shaft Design Design based on Goodman theory
Goodman line J
1 σe σe
= a + m
n Se Sut
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Shaft Design Design based on Goodman theory
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Shaft Design Design based on Goodman theory
J
Von-mises maximum stress:
q
e
σmax = (σm + σa )2 + 3(τm + τa )2
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Shaft Design Example Problem
Example-1
At a machined shaft shoulder the small diameter d is 1.100 in, the
large diameter D is 1.65 in, and the fillet radius is 0.11 in. The bending
moment is 1260 lbf-in and the steady torsion moment is 1100 lbf-in.
The heat-treated steel shaft has an ultimate strength of Sut = 105 kpsi
and a yield strength of Sy = 82 kpsi. The reliability goal is 0.99.
(a) Determine the fatigue factor of safety of the design using each of
the fatigue failure criteria described in this section.
(b) Determine the yielding factor of safety.
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Shaft Design Example Problem
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Shaft Design Example Problem
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
kt = 1.68, kts = 1.42
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
kf = 1 + q(kt − 1) = 1.58
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
kf = 1 + q(kt − 1) = 1.58
kfs = 1 + qshear (kts − 1) =
1.39
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
kf = 1 + q(kt − 1) = 1.58
kfs = 1 + qshear (kts − 1) =
1.39
Se0 = 0.5Sut =
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
kf = 1 + q(kt − 1) = 1.58
kfs = 1 + qshear (kts − 1) =
1.39
Se0 = 0.5Sut = 52.5 kpsi
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
kf = 1 + q(kt − 1) = 1.58
kfs = 1 + qshear (kts − 1) =
1.39
Se0 = 0.5Sut = 52.5 kpsi
Creliab
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1 Csize
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
kf = 1 + q(kt − 1) = 1.58
kfs = 1 + qshear (kts − 1) =
1.39
Se0 = 0.5Sut = 52.5 kpsi
Creliab
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Shaft Design Example Problem
Solution
D/d = 1.5, r /d = 0.1 Csize
kt = 1.68, kts = 1.42
q = 0.85, qshear = 0.92
kf = 1 + q(kt − 1) = 1.58
kfs = 1 + qshear (kts − 1) =
1.39
Se0 = 0.5Sut = 52.5 kpsi b
Csurf = ASut
Creliab
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Shaft Design Example Problem
Solution Contd..
Se = Csurf Csize Creliab Se0 = (0.787)(0.87)(0.814)(52.5) = 29.3 kpsi
The shaft is rotating with a constant bending moment, i.e., Mm = 0
Steady torque is applied, implies Ta = 0
Ma = 1260 lbf-in and Tm = 1100 lbf-in
Applying Goodman criterion for multi-axial fatigue:
q
1 16 1 1
q
= 2
4(kf Ma ) + 3(kfsm Tm ) 2
n πd 3 Se Sut
Hence, n = 1.62.
Based on ASME elliptic, n = 1.88
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Shaft Design Example Problem
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Shaft Design Example Problem
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Shaft Design Example Problem
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Shaft Design Example Problem
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Shaft Design Design of a shaft for deflection
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Shaft Design Design of a shaft for deflection
1 1 1 1
= + +
kteff kt1 kt2 kt3
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Design of Keys
Types of keys
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Design of Keys
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Design of Keys Types of Keys
Parallel Keys
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Design of Keys Types of Keys
Tapered Keys
The tapered key is a locking key which holds the key axially
through friction
The gib head is optional
Tapered keys orient the radial clearance to one side thus creating
eccentricity between the shaft and hub
Woodruff Keys
Used on small shafts
Self-aligning and hence are preferred for tapered shafts
Semi-circular shape leads to a larger keyseat depth which resists
key rolling
Weakens the shaft due to larger keyseat depth
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Design of Keys Stresses in Keys
Stresses in Keys
Modes of failure in keys
Shear failure: shearing across its width at the interface between
the shaft and the hub
Average stress due to direct shear
F
τxy = , Ashear = `w
Ashear
F
σx = , Asquare
bearing = (h/2)`
Abear
Key Materials
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Design of Keys Key Materials
Key Design I
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Design of Keys Key Materials
Key Design II
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Design of Keys Key Materials
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Design of Keys Key Materials
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Design of Keys Key Materials
References
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