In the paper, four nonlinear functions describing forces occurring between the teeth in a single gear transmission are discussed. It is assumed that gear teeth can have characteristics of a soft as well as of a hard type. In the study, a discrete-continuous model consisting of two ponderable shafts torsionally deformed and four rigid bodies is used. Considerations are performed by means of the wave method which enables to determine nonlinear dynamic loads in steady as well as in transient states.
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