International Journal of Applied Sciences and Smart Technologies International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 11 Spur Gears Transmission Analysis on Countinous Passive Motion Machine Design for Shoulder Joint Felix Krisna Aji Nugraha1,*, Antonius Hendro Noviyanto2 1Department of Mechatronic Product Design, Politeknik Mekatronika Sanata Dharma, Yogyakarta, Indonesia 2Department of Electromedical Technology, Politeknik Mekataronika Sanata Dharma, Yogyakarta, Indonesia *Corresponding Author: felix@pmsd.ac.id (Received 14-05-2019; Revised 15-05-2019; Accepted 15-05-2019) Abstract An analysis of gear transmission on a continuous passive machine (CPM) from the 3-dimensional design has been carried out using SolidWorks software. Analysis of the strength of the gear structure is affected by the weight of the patient's arm. Analysis of gear transmission that is affected by the load of the passive arm uses static simulation, by entering the patient's arm load. The facilities used are static simulation with the condition of fixed geometry in the parts related of the shaft, the effect of gravity of 10 π‘š/𝑠2, making mesh, and running simulation. The maximum stress that occurs in gear3 𝑧 = 100 𝑖𝑠 4.5524𝑒 + 006 𝑁/π‘š2, the maximum stress on gear2 𝑧 = 80 𝑖𝑠 4.81729𝑒 + 006 𝑁/π‘š2, the maximum stress on gear100 𝑧 = 20 𝑖𝑠 9.08982𝑒 + 006 𝑁/π‘š2. Keywords: mesh, static, simulation, continuous passive machine, spur gear. International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 12 1 Introduction Continuous passive machine (cpm) is a therapeutic tool used to train patients in joint movements after joint surgery [1]. The CPM machine is designed to move flexion and horizontal adduction using spur gear transmission. The gears are used to reduce the speed from the actuator and increase torque, so that it can passively move the patient's shoulder to do therapy. With the development of computer aided design (CAD) technology is very helpful in designing a product or machine. The process of designing in manufacturing industries used a lot of time. An engineer who has experience in using CAD can use various tools/facilities in CAD software in various applications in mechanical engineering, so that the time spent designing can be done shorter, productivity and quality can be produced better. One CAD software for design and analyzing a 3-dimensional design is Solidworks. The purpose of this study was to analyze the strength of material from the gear transmission to the patient's arm load. The strength of material of the gears are analyzed by the stress and strain on the gears. All analyzes of this study use SolidWorks software. Our main references are [2-5]. 2 Research Methodology To complete the analysis in this study, the steps taken before doing the simulation are as follows. 2.1. Research methods The research methods is done by designing 3 Dimensional CPM machine, from the results of the design will be analyzed the transmission of straight gears. By using software, the stress and strain experienced by each gear that is exposed to the specified load will be carried out. The research method is carried out by the following steps: a. Collect the geometry of the CPM machine that will be designed. b. Design 3 Dimensional CPM machine with spur gear transmission using Solidworks software. International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 13 c. Analyzing the strength of material of the spur gear transmission of the CPM machine designed with the influence of the load determined using Solidworks software. d. Analyzing the strength of material of the spur gear of the CPM machine using Solidworks software. 2.2. Design Methods of 3-Dimensional CPM Machine In the CPM machine that will be designed there are 2 gearboxes that are used to reduce speed and increase the torque of a DC motor actuator. Two gearboxes are used for flexion movement and horizontal adduction has the same transmission pair. The method for carrying out the analysis of CPM gears transmission using the SolidWorks software is as follows: a. Design spur gear 1. Determine the patient's arm load 2. Determine the torque that is required for the movement of the CPM machine 3. Determine the gear ratio used in design of the CPM machine 4. Determine the level of spur gear transmission that used at CPM machine 5. Determine dimensions, modules, number of teeth of spur gears based on the ratio of each gear transmission level 6. Determine the material of spur gear in the design of CPM machine b. Design of spur gear transmission. It is assumed that the patient's arm weight is 5 π‘˜π‘” and the patient's arm is 80 π‘π‘š long, so that the torque produced by the arm is 20 π‘π‘š. Shown in the equation below. 𝑇 = Β½ π‘Žπ‘Ÿπ‘š π‘™π‘’π‘›π‘”π‘‘β„Ž π‘₯ π‘Žπ‘Ÿπ‘š π‘€π‘’π‘–π‘”β„Žπ‘‘ π‘₯ π‘”π‘Ÿπ‘Žπ‘£π‘–π‘‘π‘¦ 𝑇 = 40 π‘π‘š π‘₯ 5 π‘˜π‘” π‘₯ 10 π‘š/𝑠2 𝑇 = 20 π‘π‘š The Dc motor actuator used has a torque characteristic of 1.5 π‘π‘š and a rotational speed of 70 π‘Ÿπ‘π‘š, so the gear transmission ratio is obtained by the equation International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 14  ο‚΄ο‚΄ο€½ i dnc Symbol and description: 𝝉𝑛𝑐 : torque needed 𝜏 𝑑 : DC motor torque 𝑖 : ratio πœ‡ : efficiecy 75% so obtained : 75,17 75,05,1 20 ο€½ ο‚΄ ο€½ ο‚΄ ο€½ ο‚΄ο‚΄ο€½ i i i i d nc dnc    From the results of the calculation the ratio is obtained at 17.75. The ratio value is increased for the safety factor to 20. The total ratio can be divided into 2 levels of gear transmission which are equal to 4 and 5. The gears are directly connected to the actuator gear1, then transmitted to gear2. Gear2 and gear3 are on the same axis. Next gear3 is transmitted to gear4. All gears are determined using the same module, which is equal to 1mm. Gear1 is determined to have 20 teeth. So that in the first transmission the number of teeth obtained in gear2 is equal to: 80 204 2 2 112 1 2 1 ο€½ ο€½ ο€½ ο€½ z xz zxiz z z i For second level spur gear transmissions obtained: International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 15 100 205 2 2 122 1 2 2 ο€½ ο€½ ο€½ ο€½ z xz zxiz z z i From these calculations of the level of the spur gears transmissions ore obtained as shown in figure 1. Figure 1. Spur gears transmission in CPM machine c. Simulation Method of structural strength in Solidworks is as follows 1. 1.Usefasilitas Simulation facility. 2. Select the static test form. 3. Insert the material used for spur gear. 4. Determine the fixed of part design. 5. Determine the gravity on the spur gear. 6. Determine the part of spur gear that affected by patients arm weight/load and enter the value of the. 7. Create a mesh on the spur gears. 8. Run the simulation. 3 Results and Discussions In this section will explain the results and discussion of the simulation of the spur gears that used in CPM machine. The analysis that will be carried out in this study includes: International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 16 1. Analysis of spur gear 1 (𝑧 = 20) 2. Analysis of spur gear 2 (𝑧 = 80) 3. Analysis of spur gear 3 (𝑧 = 100) 3.1. Results From he design of CPM machine is shown as show in the figure 2. Figure 2. Design of CPM machine 1. Simulation analysis of load on gear1 𝒛 = 𝟐𝟎 In the analysis of the results of the design of gear1 with 𝑧 = 20 are shown as show Figure 3, Figure 4, and Figure 5. Figure 3. Stress on gear1 𝑧 = 20 due to the patient's arm load International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 17 Figure 4. Displacement on gear1 𝑧 = 20 due to the patient's arm load Figure 5. Strain on gear1 𝑧 = 20 due to the patient's arm load Description spur gear1 𝑧 = 20 : Material : 1.0503 (𝐢45) Mass : 0.0277809 π‘˜π‘” Volume : 3.56165𝑒 βˆ’ 006 π‘š3 Density : 7200 π‘˜π‘”/π‘š3 Weight : 0.277809 𝑁 Resultant Forces : 51.7429 𝑁 Total Nodes : 22126 Total elements : 13140 International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 18 Table 1. Table of results of analysis due to of patient arm load on spur gear1 𝑧 = 20 Type 𝐌𝐒𝐧 Max Stress VON: von Mises Stress 120.602 𝑁/π‘š2 Node: 4339 9.08982𝑒 + 006 𝑁/π‘š2 Node: 5019 Displacement URES: Resultant Displacement 0 π‘š Node: 838 0.000249418 π‘šπ‘š Node: 227 Strain ESTRN: Equivalent Strain 3,2199𝑒 βˆ’ 010 Element: 3550 3.18916𝑒 βˆ’ 005 Element: 6033 In Table 1. It shows the results of the analysis of the structure due to the patient's arm load on the gear1 𝑧 = 20, the displacement/deflection on gear1 is 0.000249418 π‘šπ‘š. And the strain that happened on gear1 is 3.18916𝑒 βˆ’ 005. The gear1 is still relatively safe because the maximum Yield Strength is 9.08982𝑒 + 006 𝑁/π‘š2, and far below the allowable Yield Strength which is equal to 5.800𝑒 + 008 𝑁/π‘š2. 2. Simulation analysis of load on gear2 𝒛 = πŸ–πŸŽ In the analysis of the results of the design of gear2 with 𝑧 = 80 are shown in Figure 6, Figure 7, and Figure 8. Figure 6. Stress on gear2 𝑧 = 80 due to the patients arm load International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 19 Figure 7. Displacement on gear2 𝑧 = 80 due to the patient's arm load] Description spur gear2 𝑧 = 80: Material : 1.0503 (𝐢45) Mass : 0.45213 π‘˜π‘” Volume : 5.79653𝑒 βˆ’ 005 π‘š3 Density : 7200 π‘˜π‘”/π‘š3 Weight : 4.43087 𝑁 Resultant Forces : 49.4847 𝑁 Total Nodes : 20410 Total elements : 12580 Table 2. Table of results of analysis due to of patient arm load on spur gear2 𝑧 = 80 Type Min Max Stress VON: von Mises Stress 48.9205 𝑁/π‘š2 Node: 15026 4.81729 + 006 𝑁/π‘š2 Node: 19255 Displacement URES: Resultant Displacement 0 π‘š Node: 110 0.000274988 π‘šπ‘š Node: 1763 Strain ESTRN: Equivalent Strain 2.44294𝑒 βˆ’ 010 Element: 5820 1.77017𝑒 βˆ’ 005 Element: 1609 Table 2 shows the results of the analysis of the structure due to the patient's arm load on gear2 𝑧 = 80, the displacement/deflection on gear2 is 0.000274988 π‘šπ‘š and the strain that happened on gear2 is 1. 77017𝑒 βˆ’ 005. The gear2 is still relatively safe because the International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 20 maximum Yield Strength is 4.81729 + 006 𝑁/π‘š2 and far below the allowable Yield Strength which is equal to 5.800𝑒 + 008 𝑁/π‘š2. 3. Simulation analysis of load on gear3 𝒛 = 𝟏𝟎𝟎 In the analysis of the results of the design of gear3 with 𝑧 = 100 are shown in Figure 9, Figure 10, and Figure 11. Figure 9. Stress on gear3 𝑧 = 100 due to the patients arm load safe because the maximum Yield Strength is 9.08982𝑒 + 006 𝑁/π‘š2, and far below the allowable Yield Strength which is equal to 5.800𝑒 + 008 𝑁/π‘š2. 3.2. Discussions Analysis of the strength of spur gear material due to patient’s arm load, to analyze the gearbox transmission of the affected part of the transmission gear to transmit torque to the spur gear of each gears. This can be simulated because when the rotating gears of each gear will experience the same load and direction . From the design and simulation the maximum stress on the gear1 𝑧 = 20 is 9.08982𝑒 + 006 𝑁/π‘š2. On gear2 𝑧 = 80 the maximum stress that occurs is equal to 4.81729 + 006 𝑁/π‘š2. The maximum stress that occurs in gear3 𝑧 = 100 is equal to 9.08982𝑒 + 006 𝑁/π‘š2. The value of maximum stress indicates that teeth of the spur gear is affected by load of patients arm. The results of the simulations show that material 1.0503 (𝐢45) still safe. This is indicated by the maximum stress occurs in each gear is still far below Yield Strength. Material yield strength is 1.0503 (𝐢45) which is equal to 5.8𝑒 + 008 𝑁/π‘š2. International Journal of Applied Sciences and Smart Technologies Volume 1, Issue 1, pages 11–22 ISSN 2655-8564 21 4 Conclusion For designing and simulating three dimensions, it is very helpful in evaluating the design of a device. Loading on the simetris section can be assumed on one part that is exposed to the load of the tool. The analysis in this study was carried out with static loading. The possibility of analysis through simulation can still be done using the dynamic loading method References [1] S. Miyaguchi, N. Matsunaga, K. Nojiri, and S. Kawaji, β€œImpedance control of cpm device with flex-/extension an pro-/supination of upper limbs,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2007. [2] A. C. Lad and A. S. Rao, β€œDesign and Drawing Automation Using Solid Works Application Programming Interface,” International Journal of Emerging Engineering Research and Technology, 2 (7), 157βˆ’167, 2014. [3] M. H. H. Razali, M. A. H. A. Ssomad, S. M. Sapuan, M. N. A. Noordin, M. Hasbullah, and R. Syazili, β€œSimulation and analysis of innovative hand tool harvester,” Scientific Research and Essays, 7 (19), 1864βˆ’187, 2012. [4] SolidWorks, Tutorial SolidWorks Simulation, Dassault SystΓ¨mes SolidWorks Corporation, 2016. [5] SolidWorks, An Introduction to Flow Analysis Applications with Solid Works Flow Simulation, Student Guide, Dassault SystΓ¨mes SolidWorks Corporation, 2010. 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