Generalized kinematic analysis of planetary gear trains

This paper presents a generalised approach for the kinematic analysis of all types or planetary gear trains. The concept of generalized fundamental circuit equation is introduced to relate angular displacements and velocities for members of each fundamental circuit. According to fundamental circuits, generalised fundamental circuit equations and compatibility equations, are derived and solved systematically. Several examples, including planetary bevel–gear trains, worn–gear differentials and Bendix wrists, are illustrated in detail.