Analytical models of a helical gear pair are developed in order to examine the effect of sliding friction on the dynamic transmission error. Simplified 6 degree-of-freedom and single degree-of-freedom analytical models are developed. These models characterize the contact plane dynamics and capture the velocity reversal at the pitch line due to sliding friction. By assuming a constant mesh stiffness density along the contact lines, a linear time-varying model (with parametric excitation) is obtained. The effect of sliding friction is quantified by an effective mesh stiffness term. Floquet theory is then used to obtain closed-form solutions to the dynamic transmission error given periodic piece-wise linear tooth stiffness function. Responses to both initial conditions and forcing function under a nominal torque are derived. Analytical models are validated by comparing predictions with numerical simulations. Finally, parametrically-induced instability issues are briefly mentioned.

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