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| Preface to the New Media Version of the Second Edition | |
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| Preface to the Second Edition | |
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| Preface to the First Edition | |
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| Kinematics of Mechanisms | |
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| Introduction | |
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| Purpose | |
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| Kinematics and Kinetics | |
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| Mechanisms and Machines | |
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| A Brief History of Kinematics | |
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| Applications of Kinematics | |
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| The Design Process | |
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| Design, Invention, Creativity | |
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| Identification of Need | |
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| Background Research | |
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| Goal Statement | |
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| Performance Specifications | |
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| Ideation and Invention | |
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| Analysis | |
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| Selection | |
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| Detailed Design | |
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| Prototying and Testing | |
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| Production | |
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| Other Approaches to Design | |
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| Axiomatic Design | |
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| Multiple Solutions | |
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| Human Factors Engineering | |
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| The Engineering Report | |
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| Units | |
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| What's to Come | |
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| References | |
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| Bibliography | |
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| Kinematics Fundamentals | |
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| Introduction | |
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| Degrees of Freedom | |
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| Types of Motion | |
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| Links, Joints, and Kinematic Chains | |
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| Determining Degree of Freedom | |
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| Degree of Freedom in Planar Mechanisms | |
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| Degree of Freedom in Spatial Mechanisms | |
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| Mechanisms and Structures | |
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| Number Synthesis | |
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| Paradoxes | |
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| Isomers | |
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| Linkage Transformation | |
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| Intermittent Motion | |
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| Inversion | |
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| The Grashof Condition | |
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| Classification of the Fourbar Linkage | |
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| Linkages of More Than Four Bars | |
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| Geared Fivebar Linkages | |
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| Sixbar Linkages | |
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| Grashof-type Rotatability Criteria for Higher-order Linkages | |
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| Springs as Links | |
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| Practical Considerations | |
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| Pin Joints versus Sliders and Half Joints | |
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| Cantilever versus Straddle Mount | |
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| Short Links | |
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| Bearing Ratio | |
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| Linkages versus Cams | |
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| Motor and Drives | |
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| Electric Motors | |
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| Air and Hydraulic Motors | |
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| Air and Hydraulic Cylinders | |
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| Solenoids | |
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| References | |
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| Problems | |
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| Graphical Linkage Synthesis | |
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| Introduction | |
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| Synthesis | |
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| Function, Path, and Motion Generation | |
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| Limiting Conditions | |
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| Dimensional Synthesis | |
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| Two-Position Synthesis | |
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| Three-Position Synthesis with Specified Moving Pivots | |
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| Three-Position Synthesis with Alternate Moving Pivots | |
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| Three-Position Synthesis with Specified Fixed Pivots | |
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| Position Synthesis for More Than Three Positions | |
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| Quick-Return Mechanisms | |
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| Fourbar Quick-Return | |
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| Sixbar Quick-Return | |
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| Coupler Curves | |
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| Cognates | |
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| Parallel Motion | |
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| Geared Fivebar Cognates of the Fourbar | |
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| Straight-Line Mechanisms | |
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| Designing Optimum Straight-Line Fourbar Linkages | |
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| Dwell Mechanisms | |
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| Single-Dwell Linkages | |
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| Double-Dwell Linkages | |
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| References | |
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| Bibliography | |
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| Problems | |
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| Projects | |
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| Position Analysis | |
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| Introduction | |
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| Coordinate Systems | |
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| Position and Displacement | |
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| Position | |
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| Displacement | |
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| Translation, Rotation, and Complex Motion | |
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| Translation | |
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| Rotation | |
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| Complex Motion | |
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| Theorems | |
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| Graphical Position Analysis of Linkages | |
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| Algebraic Position Analysis of Linkages | |
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| Vector Loop Representation of Linkages | |
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| Complex Numbers as Vectors | |
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| The Vector Loop Equation for a Fourbar Linkage | |
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| The Fourbar Slider-Crank Position Solution | |
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| An Inverted Slider-Crank Position Solution | |
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| Linkages of More Than Four Bars | |
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| The Geared Fivebar Linkage | |
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| Sixbar Linkages | |
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| Position of Any Point on a Linkage | |
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| Transmission Angles | |
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| Extreme Values of the Transmission Angle | |
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| Toggle Positions | |
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| Circuits and Branches in Linkages | |
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| Newton-Raphson Solution Method | |
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| One-Dimensional Root-Finding (Newton's Method) | |
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| Multidimensional Root-Finding (Newton-Raphson Method) | |
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| Newton-Raphson Solution for the Fourbar Linkage | |
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| Equation Solvers | |
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| References | |
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| Problems | |
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| Analytical Linkage Synthesis | |
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| Introduction | |
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| Types of Kinematic Synthesis | |
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| Precision Points | |
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| Two-Position Motion Generation by Analytical Synthesis | |
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| Comparison of Analytical and Graphical Two-Position Synthesis | |
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| Simultaneous Equation Solution | |
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| Three-Position Motion Generation by Analytical Synthesis | |
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| Comparison of Analytical and Graphical Three-Position Synthesis | |
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| Synthesis for a Specified Fixed Pivot Location | |
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| Center-Point and Circle-Point Circles | |
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| Four- and Five-Position Analytical Synthesis | |
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| Analytical Synthesis of a Path Generator with Prescribed Timing | |
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| Analytical Synthesis of a Fourbar Function Generator | |
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| Other Linkage Synthesis Methods | |
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| Precision Point Methods | |
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| Coupler Curve Equation Methods | |
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| Optimization Methods | |
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| References | |
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| Problems | |
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| Velocity Analysis | |
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| Introduction | |
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| Definition of Velocity | |
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| Graphical Velocity Analysis | |
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| Instant Centers of Velocity | |
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| Velocity Analysis with Instant Centers | |
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| Angular Velocity Ratio | |
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| Mechanical Advantage | |
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| Using Instant Centers in Linkage Design | |
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| Centrodes | |
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| A "Linkless" Linkage | |
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| Cusps | |
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| Velocity of Slip | |
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| Analytical Solutions for Velocity Analysis | |
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| The Fourbar Pin-Jointed Linkage | |
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| The Fourbar Slider-Crank | |
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| The Fourbar Inverted Slider-Crank | |
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| Velocity Analysis of the Geared Fivebar Linkage | |
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| Velocity of Any Point on a Linkage | |
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| References | |
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| Problems | |
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| Acceleration Analysis | |
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| Introduction | |
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| Definition of Acceleration | |
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| Graphical Acceleration Analysis | |
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| Analytical Solutions for Acceleration Analysis | |
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| The Fourbar Pin-Jointed Linkage | |
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| The Fourbar Slider-Crank | |
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| Coriolis Acceleration | |
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| The Fourbar Inverted Slider-Crank | |
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| Acceleration Analysis of the Geared Fivebar Linkage | |
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| Acceleration of any Point on a Linkage | |
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| Human Tolerance of Acceleration | |
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| Jerk | |
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| Linkages of N Bars | |
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| References | |
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| Problems | |
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| Cam Design | |
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| Introduction | |
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| Cam Terminology | |
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| Type of Follower Motion | |
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| Type of Joint Closure | |
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| Type of Follower | |
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| Type of Cam | |
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| Type of Motion Constraints | |
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| Type of Motion Program | |
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| S V A J Diagrams | |
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| Double-Dwell Cam Design--Choosing S V A J Functions | |
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| The Fundamental Law of Cam Design | |
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| Simple Harmonic Motion (SHM) | |
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| Cycloidal Displacement | |
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| Combined Functions | |
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| Single-Dwell Cam Design--Choosing S V A J Functions | |
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| Polynomial Functions | |
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| Double-Dwell Applications of Polynomials | |
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| Single-Dwell Applications of Polynomials | |
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| Critical Path Motion (CPM) | |
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| Polynomials Used for Critical Path Motion | |
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| Half-Period Harmonic Family Functions | |
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| Sizing the Cam--Pressure Angle and Radius of Curvature | |
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| Pressure Angle--Roller Followers | |
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| Choosing a Prime Circle Radius | |
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| Overturning Moment--Flat-Faced Follower | |
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| Radius of Curvature--Roller Follower | |
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| Radius of Curvature--Flat-Faced Follower | |
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| Cam Manufacturing Considerations | |
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| Geometric Generation | |
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| Manual or NC Machining to Cam Coordinates (Plunge-Cutting) | |
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| Continuous Numerical Control with Linear Interpolation | |
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| Continuous Numerical Control with Circular Interpolation | |
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| Analog Duplication | |
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| Actual Cam Performance Compared to Theoretical Performance | |
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| Practical Design Considerations | |
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| Translating or Oscillating Follower? | |
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| Force- or Form-Closed? | |
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| Radial or Axial Cam? | |
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| Roller or Flat-Faced Follower? | |
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| To Dwell or Not to Dwell? | |
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| To Grind or Not to Grind? | |
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| To Lubricate or Not to Lubricate? | |
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| References | |
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| Problems | |
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| Projects | |
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| Gear Trains | |
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| Introduction | |
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| Rolling Cylinders | |
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| The Fundamental Law of Gearing | |
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| The Involute Tooth Form | |
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| Pressure Angle | |
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| Changing Center Distance | |
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| Backlash | |
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| Gear Tooth Nomenclature | |
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| Interference and Undercutting | |
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| Unequal-Addendum Tooth Forms | |
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| Contact Ratio | |
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| Gear Types | |
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| Spur, Helical, and Herringbone Gears | |
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| Worms and Worm Gears | |
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| Rack and Pinion | |
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| Bevel and Hypoid Gears | |
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| Noncircular Gears | |
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| Belt and Chain Drives | |
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| Simple Gear Trains | |
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| Compound Gear Trains | |
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| Design of Compound Trains | |
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| Design of Reverted Compound Trains | |
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| An Algorithm for the Design of Compound Gear Trains | |
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| Epicyclic or Planetary Gear Trains | |
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| The Tabular Method | |
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| The Formula Method | |
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| Efficiency of Gear Trains | |
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| Transmissions | |
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| Differentials | |
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| References | |
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| Problems | |
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| Dynamics of Machinery | |
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| Dynamics Fundamentals | |
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| Introduction | |
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| Newton's Laws of Motion | |
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| Dynamic Models | |
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| Mass | |
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| Mass Moment and Center of Gravity | |
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| Mass Moment of Inertia (Second Moment of Mass) | |
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| Parallel Axis Theorem (Transfer Theorem) | |
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| Radius of Gyration | |
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| Center of Percussion | |
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| Lumped Parameter Dynamic Models | |
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| Spring Constant | |
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| Damping | |
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| Equivalent Systems | |
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| Combining Dampers | |
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| Combining Springs | |
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| Combining Masses | |
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| Lever and Gear Ratios | |
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| Solution Methods | |
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| The Principle of d'Alembert | |
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| Energy Methods--Virtual Work | |
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| References | |
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| Problems | |
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| Dynamic Force Analysis | |
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| Introduction | |
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| Newtonian Solution Method | |
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| Single Link in Pure Rotation | |
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| Force Analysis of a Threebar Crank-Slide Linkage | |
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| Force Analysis of a Fourbar Linkage | |
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| Force Analysis of a Fourbar Slider-Crank Linkage | |
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| Force Analysis of the Inverted Slider-Crank | |
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| Force Analysis--Linkages with More Than Four Bars | |
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| Shaking Forces and Shaking Torque | |
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| Program Fourbar | |
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| Linkage Force Analysis by Energy Methods | |
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| Controlling Input Torque--Flywheels | |
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| A Linkage Force Transmission Index | |
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| Practical Considerations | |
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| References | |
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| Problems | |
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| Projects | |
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| Balancing | |
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| Introduction | |
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| Static Balance | |
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| Dynamic Balance | |
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| Balancing Linkages | |
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| Complete Force Balance of Linkages | |
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| Effect of Balancing on Shaking and Pin Forces | |
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| Effect of Balancing on Input Torque | |
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| Balancing the Shaking Moment in Linkages | |
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| Measuring and Correcting Imbalance | |
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| References | |
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| Problems | |
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| Engine Dynamics | |
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| Introduction | |
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| Engine Design | |
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| Slider-Crank Kinematics | |
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| Gas Force and Gas Torque | |
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| Equivalent Masses | |
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| Inertia and Shaking Forces | |
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| Inertia and Shaking Torques | |
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| Total Engine Torque | |
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| Flywheels | |
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| Pin Forces in the Single-Cylinder Engine | |
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| Balancing the Single-Cylinder Engine | |
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| Design Trade-offs and Ratios | |
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| Conrod/Crank Ratio | |
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| Bore/Stroke Ratio | |
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| Materials | |
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| Bibliography | |
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| Problems | |
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| Projects | |
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| Multicylinder Engines | |
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| Introduction | |
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| Multicylinder Engine Designs | |
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| The Crank Phase Diagram | |
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| Shaking Forces in Inline Engines | |
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| Inertia Torque in Inline Engines | |
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| Shaking Moment in Inline Engines | |
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| Even Firing | |
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| Two-Stroke Cycle Engine | |
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| Four-Stroke Cycle Engine | |
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| Vee Engine Configurations | |
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| Opposed Engine Configurations | |
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| Balancing Multicylinder Engines | |
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| Secondary Balance in the Four-Cylinder Inline Engine | |
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| References | |
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| Bibliography | |
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| Problems | |
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| Projects | |
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| Cam Dynamics | |
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| Introduction | |
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| Dynamic Force Analysis of the Force-Closed Cam Follower | |
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| Undamped Response | |
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| Damped Response | |
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| Resonance | |
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| Kinetostatic Force Analysis of the Force-Closed Cam-Follower | |
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| Kinetostatic Force Analysis of the Form-Closed Cam-Follower | |
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| Camshaft Torque | |
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| Measuring Dynamic Forces and Accelerations | |
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| Practical Considerations | |
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| References | |
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| Bibliography | |
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| Problems | |
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| Engineering Design | |
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| Introduction | |
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| A Design Case Study | |
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| Closure | |
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| References | |
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| Computer Programs | |
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| Introduction | |
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| General Information | |
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| General Program Operation | |
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| Program Fourbar | |
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| Program Fivebar | |
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| Program Sixbar | |
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| Program Slider | |
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| Program Dynacam | |
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| Program Engine | |
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| Program Matrix | |
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| Material Properties | |
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| Geometric Properties | |
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| Spring Data | |
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| Atlas of Geared Fivebar Linkage Coupler Curves | |
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| Answers to Selected Problems | |
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| Index | |
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| CD-ROM Index | |