Table of contents

Table of contents :
Cover
Title Page
Copyright Page
About The Author
Dedication
Preface to the Sixth Edition
Preface to the First Edition
Contents
VIDEO CONTENTS
Part I Kinematics of Mechanisms
Chapter 1 Introduction
1.0 Purpose
1.1 Kinematics and Kinetics
1.2 Mechanisms and Machines
1.3 A Brief History of Kinematics
1.4 Applications of Kinematics
1.5 A Design Process
Design, Invention, Creativity
Identification of Need
Background Research
Goal Statement
Performance Specifications
Ideation and Invention
Analysis
Selection
Detailed Design
Prototyping and Testing
Production
1.6 Other Approaches to Design
Axiomatic Design
1.7 Multiple Solutions
1.8 Human Factors Engineering
1.9 The Engineering Report
1.10 Units
1.11 A Design Case Study
Educating for Creativity in Engineering
1.12 What’s to Come
1.13 Resources With This Text
Programs
Videos
1.14 References
1.15 Bibliography
Chapter 2 Kinematics Fundamentals
2.0 Introduction
2.1 Degrees of Freedom (DOF) or Mobility
2.2 Types of Motion
2.3 Links, Joints, and Kinematic Chains
2.4 Drawing Kinematic Diagrams
2.5 Determining Degree of Freedom or Mobility
Degree of Freedom in Planar Mechanisms
Degree of Freedom (Mobility) in Spatial Mechanisms
2.6 Mechanisms and Structures
2.7 Number Synthesis
2.8 Paradoxes
2.9 Isomers
2.10 Linkage Transformation
2.11 Intermittent Motion
2.12 Inversion
2.13 The Grashof Condition
Classification of the Fourbar Linkage
2.14 Linkages of More Than Four Bars
Geared Fivebar Linkages
Sixbar Linkages
Grashof-Type Rotatability Criteria for Higher-Order Linkages
2.15 Springs as Links
2.16 Compliant Mechanisms
2.17 Micro Electro-Mechanical Systems (MEMS)
2.18 Practical Considerations
Pin Joints Versus Sliders and Half Joints
Cantilever or Straddle Mount?
Short Links
Bearing Ratio
Commercial Slides
Linkages Versus Cams
2.19 Motors and Drivers
Electric Motors
Air and Hydraulic Motors
Air and Hydraulic Cylinders
Solenoids
2.20 References
2.21 Problems
Chapter 3 Graphical Linkage Synthesis
3.0 Introduction
3.1 Synthesis
3.2 Function, Path, and Motion Generation
3.3 Limiting Conditions
3.4 Position Synthesis
Two-Position Synthesis
Three-Position Synthesis with Specified Moving Pivots
Three-Position Synthesis with Alternate Moving Pivots
Three-Position Synthesis with Specified Fixed Pivots
Position Synthesis for More Than Three Positions
3.5 Quick-Return Mechanisms
Fourbar Quick-Return
Sixbar Quick-Return
3.6 Coupler Curves
Symmetrical-Linkage Coupler Curves
3.7 Cognates
Roberts-Chebychev Theorem
Parallel Motion
Geared Fivebar Cognates of the Fourbar
3.8 Straight-Line Mechanisms
Designing Optimum Straight-Line Fourbar Linkages
3.9 Dwell Mechanisms
Single-Dwell Linkages
Double-Dwell Linkages
3.10 Other Useful Linkages
Constant Velocity Piston Motion
Large Angular Excursion Rocker Motion
Remote Center Circular Motion
3.11 References
3.12 Bibliography
3.13 Problems
3.14 Projects
Chapter 4 Position Analysis
4.0 Introduction
4.1 Coordinate systems
4.2 Position and Displacement
Position
Coordinate Transformation
Displacement
4.3 Translation, Rotation, and Complex Motion
Translation
Rotation
Complex Motion
Theorems
4.4 Graphical Position Analysis of Linkages
4.5 Algebraic Position Analysis of Linkages
Vector Loop Representation of Linkages
Complex Numbers as Vectors
The Vector Loop Equation for a Fourbar Linkage
4.6 The Fourbar Crank-Slider Position Solution
4.7 The Fourbar Slider-Crank Position Solution
4.8 An Inverted Crank-Slider Position Solution
4.9 Linkages of More Than Four Bars
The Geared Fivebar Linkage
Sixbar Linkages
4.10 Position of Any Point on a Linkage
4.11 Transmission Angles
Extreme Values of the Transmission Angle
4.12 Toggle Positions
4.13 Circuits and Branches in Linkages
4.14 Newton-Raphson Solution Method
One-Dimensional Root-Finding (Newton’s Method)
Multidimensional Root-Finding (Newton-Raphson Method)
Newton-Raphson Solution for the Fourbar Linkage
Equation Solvers
4.15 References
4.16 Problems
Chapter 5 Analytical Linkage Synthesis
5.0 Introduction
5.1 Types of Kinematic Synthesis
5.2 Two-Position Synthesis for Rocker Output
5.3 Precision Points
5.4 Two-Position Motion Generation by Analytical Synthesis
5.5 Comparison of Analytical and Graphical Two-Position Synthesis
5.6 Simultaneous Equation Solution
5.7 Three-Position Motion Generation by Analytical Synthesis
5.8 Comparison of Analytical and Graphical Three-Position Synthesis
5.9 Synthesis for a Specified Fixed Pivot Location
5.10 Center-Point and Circle-Point Circles
5.11 Four- and Five-Position Analytical Synthesis
5.12 Analytical Synthesis of a Path Generator with Prescribed Timing
5.13 Analytical Synthesis of a Fourbar Function Generator
5.14 Other Linkage Synthesis Methods
Precision Point Methods
Coupler Curve Equation Methods
Optimization Methods
5.15 References
5.16 Problems
Chapter 6 Velocity Analysis
6.0 Introduction
6.1 Definition of Velocity
6.2 Graphical Velocity Analysis
6.3 Instant Centers of Velocity
6.4 Velocity Analysis with Instant Centers
Angular Velocity Ratio
Mechanical Advantage
Using Instant Centers in Linkage Design
6.5 Centrodes
A “Linkless” Linkage
Cusps
6.6 Velocity of Slip
6.7 Analytical Solutions for Velocity Analysis
The Fourbar Pin-Jointed Linkage
The Fourbar Crank-Slider
The Fourbar Slider-Crank
The Fourbar Inverted Crank-Slider
6.8 Velocity Analysis of the Geared Fivebar Linkage
6.9 Velocity of Any Point on a Linkage
6.10 References
6.11 Problems
Chapter 7 Acceleration Analysis
7.0 Introduction
7.1 Definition of Acceleration
7.2 Graphical Acceleration Analysis
7.3 Analytical Solutions for Acceleration Analysis
The Fourbar Pin-Jointed Linkage
The Fourbar Crank-Slider
The Fourbar Slider-Crank
Coriolis Acceleration
The Fourbar Inverted Crank-Slider
7.4 Acceleration Analysis of the Geared Fivebar Linkage
7.5 Acceleration of Any Point on a Linkage
7.6 Human Tolerance of Acceleration
7.7 Jerk
7.8 Linkages of N Bars
7.9 Reference
7.10 Problems
7.11 Virtual Laboratory
Chapter 8 Cam Design
8.0 Introduction
8.1 Cam Terminology
Type of Follower Motion
Type of Joint Closure
Type of Follower
Type of Cam
Type of Motion Constraints
Type of Motion Program
8.2 S V A J Diagrams
8.3 Double-Dwell Cam Design—Choosing S V A J Functions
The Fundamental Law of Cam Design
Simple Harmonic Motion (SHM)
Cycloidal Displacement
Combined Functions
The SCCA Family of Double-Dwell Functions
Polynomial Functions
Double-Dwell Applications of Polynomials
8.4 Single-Dwell Cam Design—Choosing S V A J Functions
Single-Dwell Applications of Polynomials
Effect of Asymmetry on the Rise-Fall Polynomial Solution
8.5 Critical Path Motion (CPM)
Polynomials Used for Critical Path Motion
8.6 Sizing the Cam—Pressure Angle and Radius of Curvature
Pressure Angle—Translating Roller Followers
Choosing a Prime Circle Radius
Overturning Moment—Translating Flat-Faced Follower
Radius of Curvature—Translating Roller Follower
Radius of Curvature—Translating Flat-Faced Follower
8.7 Practical Design Considerations
Translating or Oscillating Follower?
Force- or Form-Closed?
Radial or Axial Cam?
Roller or Flat-Faced Follower?
To Dwell or Not to Dwell?
To Grind or Not to Grind?
To Lubricate or Not to Lubricate?
8.8 References
8.9 Problems
8.10 Virtual Laboratory
8.11 Projects
Chapter 9 Gear Trains
9.0 Introduction
9.1 Rolling Cylinders
9.2 The Fundamental Law of Gearing
The Involute Tooth Form
Pressure Angle
Changing Center Distance
Backlash
9.3 Gear Tooth Nomenclature
9.4 Interference and Undercutting
Unequal-Addendum Tooth Forms
9.5 Contact Ratio
9.6 Gear Types
Spur, Helical, and Herringbone Gears
Worms and Worm Gears
Rack and Pinion
Bevel and Hypoid Gears
Noncircular Gears
Belt and Chain Drives
9.7 Simple Gear Trains
9.8 Compound Gear Trains
Design of Compound Trains
Design of Reverted Compound Trains
An Algorithm for the Design of Compound Gear Trains
9.9 Epicyclic or Planetary Gear Trains
The Tabular Method
The Formula Method
9.10 Efficiency of Gear Trains
9.11 Transmissions
9.12 Differentials
9.13 References
9.14 Bibliography
9.15 Problems
Part II Dynamics of Machinery
Chapter 10 Dynamics Fundamentals
10.0 Introduction
10.1 Newton’s Laws of Motion
10.2 Dynamic Models
10.3 Mass
10.4 Mass Moment and Center of Gravity
10.5 Mass Moment of Inertia (Second Moment of Mass)
10.6 Parallel Axis Theorem (Transfer Theorem)
10.7 Determining Mass Moment of Inertia
Analytical Methods
Experimental Methods
10.8 Radius of Gyration
10.9 Modeling Rotating Links
10.10 Center of Percussion
10.11 Lumped Parameter Dynamic Models
Spring Constant
Damping
10.12 Equivalent Systems
Combining Dampers
Combining Springs
Combining Masses
Lever and Gear Ratios
10.13 Solution Methods
10.14 The Principle of d’Alembert
Centrifugal Force
10.15 Energy Methods—Virtual Work
10.16 References
10.17 Problems
Chapter 11 Dynamic Force Analysis
11.0 Introduction
11.1 Newtonian Solution Method
11.2 Single Link in Pure Rotation
11.3 Force Analysis of A Threebar Crank-Slide Linkage
11.4 Force Analysis of a Fourbar Linkage
11.5 Force Analysis of a Fourbar Crank-Slider Linkage
11.6 Force Analysis of the Inverted Crank-Slider
11.7 Force Analysis—Linkages with More Than Four Bars
11.8 Shaking Force and Shaking Moment
11.9 Program Linkages
11.10 Torque Analysis by an Energy Method
11.11 Controlling Input Torque—Flywheels
11.12 A Linkage Force Transmission Index
11.13 Practical Considerations
11.14 Reference
11.15 Problems
11.16 Virtual Laboratory
11.17 Projects
Chapter 12 Balancing
12.0 Introduction
12.1 Static Balance
12.2 Dynamic Balance
12.3 Balancing Linkages
Complete Force Balance of Linkages
12.4 Effect of Balancing on Shaking and Pin Forces
12.5 Effect of Balancing on Input Torque
12.6 Balancing the Shaking Moment in Linkages
12.7 Measuring and Correcting Imbalance
12.8 References
12.9 Problems
12.10 Virtual Laboratory
Chapter 13 Engine Dynamics
13.0 Introduction
13.1 Engine Design
13.2 Slider-Crank Kinematics
13.3 Gas Force and Gas Torque
13.4 Equivalent Masses
13.5 Inertia and Shaking Forces
13.6 Inertia and Shaking Torques
13.7 Total Engine Torque
13.8 Flywheels
13.9 Pin Forces in the Single-Cylinder Engine
13.10 Balancing the Single-Cylinder Engine
Effect of Crankshaft Balancing on Pin Forces
13.11 Design Trade-offs and Ratios
Conrod/Crank Ratio
Bore/Stroke Ratio
Materials
13.12 Bibliography
13.13 Problems
13.14 Projects
Chapter 14 Multicylinder Engines
14.0 Introduction
14.1 Multicylinder Engine Designs
14.2 The Crank Phase Diagram
14.3 Shaking Forces in Inline Engines
14.4 Inertia Torque in Inline Engines
14.5 Shaking Moment in Inline Engines
14.6 Even Firing
Two-Stroke Cycle Engine
Four-Stroke Cycle Engine
14.7 V ee Engine Configurations
14.8 Opposed Engine Configurations
14.9 Balancing Multicylinder Engines
Secondary Harmonic Balancing of the Four-Cylinder Inline Engine
A Perfectly Balanced Two-Cylinder Engine
14.10 References
14.11 Bibliography
14.12 Problems
14.13 Projects
Chapter 15 Cam Dynamics
15.0 Introduction
15.1 Dynamic Force Analysis of the Force-Closed Cam-Follower
Undamped Response
Damped Response
15.2 Resonance
15.3 Kinetostatic Force Analysis of the Force-Closed Cam-Follower
15.4 Kinetostatic Force Analysis of the Form-Closed Cam-Follower
15.5 Kinetostatic Camshaft Torque
15.6 Measuring Dynamic Forces and Accelerations
15.7 Practical Considerations
15.8 References
15.9 Bibliography
15.10 Problems
15.11 Virtual Laboratory
Chapter 16 Cam- and Servo-Driven Mechanisms
16.0 Introduction
16.1 Servomotors
16.2 Servo Motion Control
Servo Motion Functions
16.3 Cam-Driven Linkages
16.4 Servo-Driven Linkages
16.5 Other Linkages
16.6 Cam-Driven Versus Servo-Driven Mechanisms
Flexibility
Cost
Reliability
Complexity
Robustness
Packaging
Load Capacity
16.7 References
16.8 Bibliography
16.9 Problems
Appendix A Computer Programs
Appendix B Material Properties
Appendix C Geometric Properties
Appendix D Spring Data
Appendix E Coupler Curve Atlases
Appendix F Answers to Selected Problems
Appendix G Equations for Under- or Overbalanced Multicylinder Engines
Index
Downloads Index