9.

Torsion
In machinery, the general term shaft refers to a member, usually of circular crosssection, which supports gears, sprockets, wheels, rotors, etc., and which is subjected to torsion and to transverse or axial loads acting singly or in combination.

Theory at a Glance (for IES, GATE, PSU)

An axle is a rotating/non-rotating member that supports wheels, pulleys, and carries no torque.

A spindle is a short shaft. Terms such as lineshaft, headshaft, stub shaft, transmission shaft, countershaft, and flexible shaft are names associated with special usage.

Torsion of circular shafts

1. Equation for shafts subjected to torsion "T"

R = T G = J L
Torsion Equation

Where J = Polar moment of inertia

= Shear stress induced due to torsion T.

G = Modulus of rigidity

= Angular deflection of shaft

R, L = Shaft radius & length respectively

Assumptions
The bar is acted upon by a pure torque. The section under consideration is remote from the point of application of the load and from a change in diameter. Adjacent cross sections originally plane and parallel remain plane and parallel after twisting, and any radial line remains straight. The material obeys Hookes law Cross-sections rotate as if rigid, i.e. every diameter rotates through the same angle

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2. Polar moment of inertia

As stated above, the polar second moment of area, J is defined as

2 r 3 dr

For a solid shaft

J = 2

LM r OP N4Q
4 4

=
0

2 R 4 D4 = 4 32

(6)

For a hollow shaft of internal radius r: J =

2 r dr =
3

Lr O 2 M P N4Q

=
r

( R4 r 4 ) =

32

cD

d4

(7)

Where D is the external and d is the internal diameter.

Solid shaft J =

d4
32

Hollow shaft, "J =

32

(do 4 di 4 )

3. The polar section modulus

Zp= J / c, where c = r = D/2
For a solid circular cross-section, Zp = D3 / 16 For a hollow circular cross-section, Zp = (Do4 - Di4 ) / (16Do) Then, max = T / Zp If design shears stress, d is known, required polar section modulus can be calculated from: Zp = T / d

4. Power Transmission (P)

P (in Watt ) =

2 NT 60

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Chapter-9
P (in hp)

2 NT = 4500

Torsion
(1 hp = 75 Kgm/sec). [Where N = rpm; T = Torque in N-m.]

S K Mondals

5. Safe diameter of Shaft (d)

Stiffness consideration

T G = J L
Shear Stress consideration

T = J R
We take higher value of diameter of both cases above for overall safety if other parameters are given.

6. In twisting
Solid shaft,

max

16T d3
=

Hollow shaft,

max

16Td o (d o 4 di 4 )
d = 4.9
4

Diameter of a shaft to have a maximum deflection " " [Where T in N-mm, L in mm, G in N/mm2]

TL G

7. Comparison of solid and hollow shaft

A Hollow shaft will transmit a greater torque than a solid shaft of the same weight & same material because the average shear stress in the hollow shaft is smaller than the average shear stress in the solid shaft

( max )holloow shaft 16 = ( max ) solid shaft 15

If solid shaft dia = D Hollow shaft, d o = D, di = D 2

Strength comparison (same weight, material, length and max )

Th n2 + 1 = Ts n n 2 1

Where, n=

External diameter of hollow shaft Internal diameter of hollow shaft

[ONGC-2005]

Weight comparison (same Torque, material, length and max )

n 2 1 n 2/3 Wh = 2/3 Ws n4 1

Where, n=

External diameter of hollow shaft Internal diameter of hollow shaft

[WBPSC-2003]

Strain energy comparison (same weight, material, length and max )

Uh n 2 + 1 1 = 1+ 2 = 2 Us n n

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8. Shaft in series
= 1 + 2
Torque (T) is same in all section Electrical analogy gives torque(T) = Current (I)

9. Shaft in parallel
1 = 2
and T = T1 + T2 Electrical analogy gives torque(T) = Current (I)

10. Combined Bending and Torsion

In most practical transmission situations shafts which carry torque are also subjected to bending, if only by virtue of the self-weight of the gears they carry. Many other practical applications occur where bending and torsion arise simultaneously so that this type of loading represents one of the major sources of complex stress situations. In the case of shafts, bending gives rise to tensile stress on one surface and compressive stress on the opposite surface while torsion gives rise to pure shear throughout the shaft. For shafts subjected to the simultaneous application of a bending moment M and torque T the principal stresses set up in the shaft can be shown to be equal to those produced by an equivalent bending moment, of a certain value Me acting alone. Figure

Maximum direct stress ( x ) & Shear stress ( ( xy ) in element A

32 M P + d3 A 16T xy = 3 d

x =

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Chapter-9

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1,2

2 x + xy 2 2
= x + ( xy ) 2 2
2

max =

1 2
2

Maximum Principal Stress ( max ) & Maximum shear stress ( max )

max

16 M + M 2 +T2 d3

max

16 M 2 +T2 3 d

Location of Principal plane ( )

1 T tan 1 2 M

Equivalent bending moment (Me) & Equivalent torsion (Te).

M + M 2 +T2 Me = 2
Te = M 2 + T 2
Important Note o

Uses of the formulas are limited to cases in which both M & T are known. Under any other condition Mohrs circle is used.

Safe diameter of shaft (d) on the basis of an allowable working stress. o

w w

in tension , d =

32M e

in shear , d=

16Te

11. Shaft subjected to twisting moment only

Figure

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Normal force ( Fn ) & Tangential for ( Ft ) on inclined plane AB

Fn = [ BC sin + AC cos ] Ft = [ BC cos - AC sin ]

Normal stress ( n ) & Tangential stress (shear stress) ( t ) on inclined plane AB.

n t

= =

sin 2

cos 2

Maximum normal & shear stress on AB

0 45 90 135

( n )max 0 0 +

max

+ 0 0

Important Note

Principal stresses at a point on the surface of the shaft = + , - , 0

i.e

1,2 = sin2

Principal strains

1 =

(1 + ); 2 =

(1 + ); 3 = 0

Volumetric strain,

v =1 + 2 + 3 = 0
No change in volume for a shaft subjected to pure torque.

12. Torsional Stresses in Non-Circular Cross-section Members

There are some applications in machinery for non-circular cross-section members and shafts where a regular polygonal cross-section is useful in transmitting torque to a gear or pulley that can have an axial change in position. Because no key or keyway is needed, the possibility of a lost key is avoided. Saint Venant (1855) showed that max in a rectangular b c section bar occurs in the middle of the longest side b and is of magnitude formula

max =

T T 1.8 = 3+ 2 2 b/c bc bc
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Where b is the longer side and factor that is function of the ratio b/c. The angle of twist is given by

Chapter-9

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S K Mondals

Tl bc3G

Where is a function of the ratio b/c Shear stress distribution in different cross-section

Rectangular c/s

Elliptical c/s

Triangular c/s

13. Torsion of thin walled tube

For a thin walled tube Shear stress, =

T 2 A0t

Angle of twist,

sL
2 AO G

[Where S = length of mean centre line, AO = Area enclosed by mean centre line] Special Cases o For circular c/s

J = 2 r 3t ;

Ao = r 2 ;

S = 2 r

[r = radius of mean Centre line and t = wall thickness]

T T .r T = = 2 2 r t 2 Aot J

=
o

TL L TL = = GJ Ao JG 2 r 3tG

For square c/s of length of each side b and thickness t

A0 = b 2 S =4b
o For elliptical c/s a and b are the half axis lengths.

A0 = ab 3 S (a + b) ab 2

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