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A Design World Resource

Understanding
Ball Splines
INSIDE...
• Basics of Ball Splines 2
• VIDEO: NB’s Ball Splines 6
• Demystifying Ball Splines 7
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Basics of
Ball Splines

Ball splines are special motion control elements, which can transmit or resist torque and
linear motion simultaneously. Think of a linear slide that can revolve about its long axis.
Ball splines boast a number of advantages over other motion otherwise be required, adding to your system cost, complexity and
elements. Consider the fact that ball splines can handle 5 to 12 times space requirements.
the dynamic load of a comparably sized slide bushing (aka ball slides Ball splines are composed of two components, a grooved, precision
or linear bearing). Also, ball splines simultaneously transmit torque shaft and a special nut. The nut contains captive, re-circulating circuits
while providing a means of extremely low friction linear movement. of ball elements. It is very similar to a ball screw nut, but in this case,
Without a ball spline, two separate automation mechanisms would the screw has a lead angle of zero.

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Basics of
Ball Splines
(continued)

Ball spline shafts typically have 2 to 6 grooves running down their

length. The number of grooves being dependent on load and shaft
diameter. The 6 groove shaft does have the highest load capacity, but
this comes at a cost of a very large nut to accommodate 6 separate
tracks. Provided the spline shaft diameter does not drop below a certain
limit, it is very common to see 4 groove ball splines. On very small
diameter ball splines, 2 groove setups are more common.
Generally speaking, ball splines are available with two types of
groove geometries. The Gothic arc or the circular arc. Due to the shape
of the Gothic arc, it makes contact with each ball bearings at 4 points.
Two points on the shaft groove and two points on the nut groove. a form to give it the final shape. Drawing is very similar to extruding,
The circular arc looks exactly like what you would expect the except that instead of pulling the work, the material is pushed through
grooves to look like, a semicircle. If you were to look very closely a form to obtain the desired shape. Drawn shafts are the cheapest and
though, you would see that these grooves are elongated slightly into an available in the longest lengths. When simple point-to-point movement
ellipse. This geometry touches each ball bearing at only two points. One or torque transmission is all that is required, drawn shafts are the most
point on the shaft and one point on the nut. economical.
Of the two designs, the Gothic arc does provide higher rigidity and In the middle range of accuracy is the ground shaft. This type of
lower backlash, but these benefits come at the expense of ball slippage shaft’s diameter and grooves are ground into the final shape resulting in
and higher friction due to the additional points of contact. The circular a more consistent product.
arc is more suitable for designs with low moments of inertia and that The highest accuracy is obtained from precision ground ball shafts.
won’t experience wide shifts in applied torque. In other words, systems These shafts are created just like ground shafts with just a bit more
that can take a bit of backlash in stride. The Gothic arc shaped groove is attention to keeping that final geometry to within very narrow limits.
recommended for applications requiring the highest rigidity. Gothic arcs Ball spline rigidity is controlled to a large extent via pre-load of
are going to increase the torque rating of the ball spline. the ball bearings. Precise selection of ball bearings dictate the level of
Ball splines are customarily available in three ranges of accuracy; pre-load by controlling the amount of negative clearance in the channel
denoted by the method of shaft manufacture. For general purpose use between nut track and shaft groove. Radial play can be taken up with
with the least demand in terms of precision and backlash, is the drawn an increased pre-load. Much like how slightly oversized balls are used in
type. Drawn shafts are created by drawing (pulling) a steel shaft through ball screw nuts to eat up backlash.

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Basics of
Ball Splines
(continued)

Of the two designs, the Gothic arc
does provide higher rigidity and
lower backlash.

When mounting ball splines, you

basically have 3 options. Ultimately, your
design intent will dictate which one type
circumference of the nut. This is a Rotary Ball Spline. The
you go with.
integrated bearings of a Rotary Ball Spline are typically
You can fix the shaft at both ends
angular contact bearings but for higher loads, the angular
allowing the shaft the freedom to only
contact bearings can be replaced with crossed roller
rotate. Fixing the shaft in place involves
bearings.
a bearing at each end of the shaft. With
Shaft end support, or the lack of it, is commonly
the shaft only able to rotate, the nut can
referred to as “end fixity”, and all types are not equal.
translate back and forth down the length
For any particular ball spline, the type and quality of
of the shaft.
end fixity, be it bearing, bushing, or “other” is going to
You can fix the shaft at one end and
change the parameters of your system. Some, but not all
leave the other end unsupported. Yes, this
of the variables that are dependent on end fixity include:
arrangement cuts down on parts count
• maximum RPM
but you also cut down the maximum
• maximum shaft length
speed and life expectancy of the ball
• maximum translational speed
spline. An unsupported rotating shaft is
• mechanical efficiency
more susceptible to vibration and “whip”,
• the natural frequency of oscillation
rarely are these good things to have in a
A close examination of manufacturer’s literature will
mechanical system.
guide your selection. The charts and formulas provided
The nut itself is fixed in place allowing
will assist in a scientific selection rather than the “looks
the shaft to do all the translating. This
big enuff ” approach.
arrangement might be seen on a drill press
spindle. This type of application demands
the use of a special type of ball spline nut
with a radial bearing integrated into the

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Basics of
Ball Splines
(continued)

Some factors to consider

when selecting a ball spine for
your application.
The environment: Do you need corrosion Flanged ball spline
resistance? Consider the type of steel that the
ball spline is constructed from. Know that not
all stainless steels are equal. Different grades
of stainless will have varying abilities to resist
corrosive agents. What about dust and debris. You
may have to install brushes or shaft wipers on the RPM, translational speed
nut. You may even need bellows covering all or
part of the shaft.
& backlash.
Is your system going to experience a wide
What are the physical constraints of the
range of load and speeds or does it chug
installation? Do you absolutely have to have
through the same motion over and over.
the smallest ball spline that still meets your
Consider the moment of inertia about
load requirements? Know that if you do start to
the nut or shaft. Backlash will be more
exceed the load ratings of the ball spline, the life
pronounced under high inertial moments.
expectancy will start to drop pretty quickly.
Will your design tolerate the wobble?
Accuracy: What kind of accuracy is required?
Will your design still be in spec when
Will a drawn, commercial shaft meet your needs
the manufacturer listed backlash that
or do you need the more precise but costlier
looked great on paper is sweeping out an
precision ground shaft. Sometimes, as engineers,
arc 6 inches out from the shaft’s long axis?
it is difficult to get past the compulsion to over-
Incidentally, ball spline backlash is usually The rotary ball spline is for applications that demand
engineer a design. We have to remind ourselves the use of a special type of ball spline nut with a radial
measured at the circumference of the circle
that not everything has to survive undersea bearing integrated into the circumfrerence of the nut.
formed by the ball bearings that are in These integrated bearings are typically angular contact
conditions or saltwater spray. We have to struggle
contact with the shaft. bearings but for higher loads, the angular contact bearings
to maintain that balance between operational can be replaced with crossed roller bearings.
To counter the lash or load/speed
margins, cost, and complexity.
swings, perhaps two nuts as well as a

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 Basics of
Ball Splines
(continued)
Ball splines lend themselves
to innumerable motion control
systems.

higher bearing pre-load will be necessary. Maybe switching typically be ordered from 4 to 100m in diameter
from circular arc to a Gothic arc will be enough of a and when the situation demands it, specialized
countermeasure. groove shapes aside from the usual Gothic or
Pay special attention to any cantilevered load. Backlash elliptical arc can be ground into a shaft. Shaft
will be more pronounced as the distance from the nut or ends can be machined into custom profiles.
shaft axis increases. Journals and other made-to-order features
Lubrication: Poor or improper lubrication is going to like threads and keyways can be cut, ground or
result in an order for replacement parts a lot sooner than broached into shafts.
expected. Load and speed are going to determine the service A method of space saving can be had by
life of the lubricant so a service using gun drilled shafts for running wires or fluid
schedule or a means of automatic or air transfer. Surface treatments to increase
lubrication will be essential. corrosion resistance and lubricity are available.
Featured Manufacturers will usually give The nuts themselves are always offered in a
Video: some general recommendations variety of off-the-shelf configurations. Common
for proper lubrication depending styles include nuts with keyways, flanges or
This video nuts that are shaped like a block.
on speed. They might also give
explains NB ball figures for minimum grease fill Did we cover everything you need to know
splines and rotary within the nut. about specifying and selecting ball splines?
ball splines. Ball splines lend themselves No. However, you did get a brief education on
to innumerable motion control what these devices are and how and where
systems. Consider; Pick and place they are used. Yes. You got some useful, high
machines, water jets, automatic level information to get started. Some of the
tool changers, movement of pipettes for DNA testing, disk obstacles to watch out for when using these
drive manufacturing, plating and coating lines, material mechanisms were addressed as well.
conveyance, product assembly machines, wire winding Good luck in your efforts and remember, beware
processes, packaging equipment, welding machines, the wobble.
robotics, oh... and helicopters!
Ball splines are very customizable devices. Shaft sizes can

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 Demystifying
Ball Spline Specs
In ball splines,
bearings in the nut
ride on a grooved
shaft that prevents
the nut from rotating.
This lets it transfer
torque. Special
versions permit both
rotary and linear
motion.

Ball splines can be configured for an endless number of automated operations.

Place a recirculating-ball bushing on a shaft and what do you get? straightforward and easy? Demystify the semantic
Frictionless movement of the shaft. But, create grooves along the axial differences in the literature and it will, at least, be
length of the shaft that correspond to the radius of the bushing’s ball easier. We’ll do this by thinking of ball splines in
elements and you’ve got frictionless linear movement coupled with two terms of how their various configurations affect their
important characteristics – those being anti-rotation torque transfer functions and then compare their functionality to
and higher load capabilities. application requirements.
Now... that’s a ball spline. It combines a linear bushing (nut) that can
now handle greater moment loads and, a shaft, which, unlike a rail, can Six Load & Accuracy Factors
be rotated when needed. It is perfect for high-speed motion and high- The ball spline bushing (generally referred to as a
speed rotation. nut) has a load capacity (including moment load) that
There is the right ball spline for an endless number of automated can be increased by manipulating any of six factors –
operations: Robotics, inspection, spinning, loading, coating, wire four relate to the area of ball contact, i.e., the number
winding, grinding, indexing, die setting, transferring, conveyance, of grooves in the shaft, the shape of the grooves, the
molding, drafting, measuring, optical measuring, welding, riveting, length of the nut and of its raceways and how close
printing, book-binding, packaging, filling, pressing and more. the tolerances are. Five and six are shaft rigidity and
So why isn’t identifying the right ball spline for an application mounting systems.

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Demystifying
Basics of
Ball Splines
Spline Specs
(continued)
(continued)

Number of Grooves in the Shaft

Compared to a slide bush’s shaft, a grooved spline
shaft gives greater contact area so load capacity and
life is greater than a like sized slide bush and shaft
combination. The basic dynamic load ratings of a ball
4-groove ball spline with recirculating ball circuit raceways.
spline are typically 5~12 times that of a slide bush of
a similar size.
The number of grooves in a spline shaft can
number from two to six. However, in some instances
the six groove system fills so much of the space Shape of the Grooves
on the shaft that there is no room next to the nut’s The 4-point contact design is, because of
active ball paths for ball recirculation. Therefore, its shape, called a gothic arch. The gothic arch
the nut has to protrude from the shaft for the balls eliminates any clearance that could lead to defection
to recirculate above and away from the shaft. Also, and is, therefore, best suited for applications
because the ball elements will fall out of the nut requiring maximum precision. The 4 point-contact
if the nut and shaft are separated, this particular increases the load capacity and rigidity so that it
type of six- groove-shaft ball spline system must be can handle a greater moment load. Typically, larger
handled with far greater care. spline sizes utilize the gothic arch 4-point contact
In the most popular four groove configuration, grooves.
the nut can have side by side active and recirculating Of the groove designs on the market, the
paths making this a much more compact system. standard choice is between balls that make contact
Plus, all ball tracks are in contact with raceways, with the raceway grooves at two points or at four
whereas only half are in contact in any one direction points (see Figure 2). A slightly elliptical groove
on some of the six groove shaft systems. design allows the balls to make contact at two
So, if the load doesn’t require six raceways and opposing points but allows a bit of clearance on the
four will do, space can be saved. balls’ sides that are perpendicular to the contact
points. A change of shaft rotation direction may

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 Demystifying
Basics of
Ball Splines
Spline Specs
(continued)
(continued)

cause backlash of this circular arc type nut. Because there are larger
Ball Splines
contact area differences on a gothic arc, the inner part of the balls
must rotate faster than the outer, which creates slippage and results
Eliminate Backlash
in greater friction. For this reason, circular arc grooves are used for NB Ball Splines have recirculating steel balls on
smaller, more friction sensitive ball splines. the side of the outer race that are designed for
Another shaft configuration is available which is designed for high speed rotation and to eliminate backlash. For
very high loads. It uses semi-triangular protrusions along the spline applications that may require both linear motion
shaft. Its main drawback is that it makes it more difficult for the user to and superior torque transmission - from robotics
machine the ends of the shaft and it is less stiff. This type of spline shaft to transport equipment. Available in 16 standard
is highly susceptible to vibration since straightness can be somewhat and customizable shaft sizes with diameters from
difficult to maintain. A round grooved spline shaft is stiffer because 4mm to 100mm. There are 6 different nut (the outer
of the cross sectional area. It’s better with bending and twisting cylinder that retains the ball elements) styles. The
moments. large surface area of ball contact with grooved
shaft results in high load capacity. Perfect for high-
speed motion and high-speed rotation. The various
Length of the Nut and of it’s Raceways material options include Martensite stainless. 3-D
Since ball raceways are circuits, approximately half the balls in a CAD now available.
raceway are always in the active, load-bearing portion of the raceway
while the other half are in the recirculating path. The longer the nut,
the more active balls supporting the load. However, some raceways
are designed to more efficiently take advantage of the nuts length
and pack more balls into its active portion. The more active balls in
the nut’s raceways, the more moment load the nut can support.
 To
increase moment load capacity, multiple nuts can 
be used in tandem.

Nut Tolerances
When raceways are precisely ground (not drawn) they better
conform to the shape of the balls in the nut and grooved spline shaft.
This results in opposing raceways having the same angles of contact,
which eliminates backlash.

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Demystifying
Basics of Learn
Ball Splines
Spline Specs more...
(continued) Click here to see our
(continued)
brochure, explaining
everything you
need to know about
standard, rotary and
stroke ball splines.

Controlling machining of all the shaft

Preloading decreases the available grooves so they are linear all the way through
radial play to ensure rigidity, which also in high accuracies is very difficult. Non-ground
increases precision. This process not only (drawn) spline shafts are, naturally, of lower
increases the contact area, increasing accuracy.
direct loading capabilities, it also restricts Generally, manufacturers present 3
any radial movement, increasing the accuracy ratings comparable to High (meaning
overhung moment capabilities. This their highest precision), Medium (meaning
creates a sturdier structure that can their standard grade – usually a stock item)
handle a very demanding working and Low (often a non-ground shaft). However,
environment. one manufacturer’s top grade can be another’s
The clearance between the balls and
the grooved spline shaft is controlled by standard grade. Comparing accuracy grades
grinding the nut and grooved
spline shaft Shaft Rigidity comes down to comparing measures of the
raceways
accurately and also by
installing
the Increasing how symmetrical the above-mentioned ranking characteristics
proper
ball size
grade – using the spline shaft is, can increase maximum – shaft diameter tolerance, straightness,
nut’s
bearing
outer
cylinder
wall to
adjust to rotational speed and load capacities as perpendicularity and concentricity.
the different sizes. well as reduce vibration. If a lesser degree of accuracy is acceptable
Each spline nut should be individually Spline shafts vary as to whether they because the primary concern is torque transfer,
preloaded at the factory with larger ball are precision-ground, ground or drawn linear transfer, rotational motion or length,
grades that reduce the clearance between steel bar. They also vary as to the grade then drawn, non-ground spline shafts may be
spline shaft groove and nut groove. Where of the base material. Manufacturers the best choice. Some drawn shafts can use the
less vibration and less fluctuation of torque rank shafts by characteristics such same nuts as ground spline, but load capacity
are present, standard pre-load is sufficient as the tolerance of ground shafts, is reduced because the nut is traveling in a
to ensure smooth linear movement. For a perpendicularity to the end face, non-ground raceway groove. However, they’re
load subjected to minor twisting, alternating concentricity of the part-mounting section less expensive and can be as long as five
moment load and vibration, a light pre-load is in relation to the support section, as well meters, making them appropriate for material
preferable. as the material grade. transfer and handling applications.

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Demystifying
Basics of
Ball Splines
Spline Specs
(continued)
(continued)

Mounting Systems
If the load is not mounted onto the nut securely, accuracy will be
affected. There are three types of mounting systems.
Flange Nut
The second mounting system is the flange nut. A flange nut is much
simpler to install because it only requires a rough bore and mounting
holes drilled and tapped to secure the flange to the housing. Though,
to fit the nut into the housing, a hole has to be bored, this boring does
not require the accuracy demanded by a keyed nut. With the flange type
because it is bolted on to the housing, there is no need for a keyway.

Nut With Keyway

The standard mode of mounting a cylindrical nut is with a key. For
this system, the cylindrical nut will have a keyway and separate key. A
matching keyway must be bored into the housing or block that will be
mounted on the cylinder nut. It is critical that the bore precisely fit the
key to prevent vibration. The keyway is important because the nut has
to be fixed in a rotational direction so when the grooved spline shaft is
turned the nut isn’t turned within the housing. The housing has to turn Keyless Nut
with the nut. In addition to the key slot in the middle of the nut, this The third mounting system is the keyless cylinder nut. It is very suitable
system also requires a snap ring, a push plate or another fixing method for small size compact applications. It is similar to a flange type nut.
to prevent the nut from slipping out of the housing. Instead of a fixed flange on the nut, there is a squared attachment
that slots into the nut to prevent rotation. The slot can be made with
holes for screws so that the nut will be fixed similarly to the way that
the flange is fixed to housing. But it is much more compact than the
standard flange.

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