Preface | p. xiii |
Acknowledgments | p. xv |
Motion Control Systems | p. 1 |
Motion Control Systems Overview | p. 2 |
Glossary of Motion Control Terms | p. 9 |
High-Speed Gearheads Improve Small Servo Performance | p. 10 |
Modular Single-Axis Motion Systems | p. 12 |
Mechanical Components Form Specialized Motion-Control Systems | p. 13 |
Servomotors, Stepper Motors, and Actuators for Motion Control | p. 14 |
Servosystem Feedback Sensors | p. 22 |
Solenoids and Their Applications | p. 29 |
Robot Mechanisms | p. 33 |
Industrial Robots | p. 34 |
FANUC Robot Specifications | p. 38 |
Mechanism for Planar Manipulation With Simplified Kinematics | p. 43 |
Tool-Changing Mechanism for Robot | p. 44 |
Piezoelectric Motor in Robot Finger Joint | p. 45 |
Six-Degree-of-Freedom Parallel Minimanipulator | p. 46 |
Self-Reconfigurable, Two-Arm Manipulator With Bracing | p. 47 |
Improved Roller and Gear Drives for Robots and Vehicles | p. 48 |
All-Terrain Vehicle With Self-Righting and Pose Control | p. 49 |
Parts-Handling Mechanisms | p. 51 |
Mechanisms That Sort, Feed, or Weigh | p. 52 |
Cutting Mechanisms | p. 56 |
Flipping Mechanisms | p. 58 |
Vibrating Mechanism | p. 58 |
Seven Basic Parts Selectors | p. 59 |
Eleven Parts-Handling Mechanisms | p. 60 |
Seven Automatic-Feed Mechanisms | p. 62 |
Seven Linkages for Transport Mechanisms | p. 65 |
Conveyor Systems for Production Machines | p. 68 |
Traversing Mechanisms for Winding Machines | p. 73 |
Vacuum Pickup Positions Pills | p. 75 |
Machine Applies Labels from Stacks or Rollers | p. 75 |
High-Speed Machines for Adhesive Applications | p. 76 |
Automatic Stopping Mechanisms for Faulty Machine Operation | p. 82 |
Electrical Automatic Stopping Mechanisms | p. 88 |
Automatic Safety Mechanisms for Operating Machines | p. 90 |
Reciprocating and General-Purpose Mechanism | p. 93 |
Gears and Eccentric Disk Combine in Quick Indexing | p. 94 |
Timung Belts, Four-Bar Linkage Team Up for Smooth Indexing | p. 95 |
Modified Ratchet Drive | p. 96 |
Odd Shapes in Planetary Give Smooth Stop and Go | p. 97 |
Cycloid Gear Mechanism Controls Stroke of Pump | p. 99 |
Converting Rotary-to-Linear Motion | p. 100 |
New Star Wheels Challenge Geneva Drives for Indexing | p. 100 |
Geneva Mechanisms | p. 103 |
Modified Geneva Drives | p. 106 |
Indexing and Intermittent Mechanisms | p. 108 |
Rotary-to-Reciprocating Motion and Dwell Mechanisms | p. 116 |
Friction Devices for Intermittent Rotary Motion | p. 122 |
No Teeth on These Ratchets | p. 124 |
Cam-Controlled Planetary Gear System | p. 125 |
Special-Purpose Mechanisms | p. 127 |
Nine Different Ball Slides for Linear Motion | p. 128 |
Ball-Bearing Screws Convert Rotary to Linear Motion | p. 130 |
Three-Point Gear/Leadscrew Positioning | p. 131 |
Unique Linkage Produces Precise Straight-Line Motion | p. 132 |
Twelve Expanding and Contracting Devices | p. 134 |
Five Linkages for Straight-Line Motion | p. 136 |
Linkage Ratios for Straight-Line Mechanisms | p. 138 |
Linkages for Other Motions | p. 139 |
Five Cardan-Gear Mechanisms | p. 140 |
Ten Ways to Change Straight-Line Direction | p. 142 |
Nine More Ways to Change Straight-Line Direction | p. 144 |
Linkages for Accelerating and Decelerating Linear Strokes | p. 146 |
Linkages for Multiplying Short Motions | p. 148 |
Parallel-Link Mechanisms | p. 150 |
Stroke Multiplier | p. 150 |
Force and Stroke Multipliers | p. 152 |
Stroke-Amplifying Mechanisms | p. 154 |
Adjustable-Stroke Mechanisms | p. 155 |
Adjustable-Output Mechanisms | p. 156 |
Reversing Mechanisms | p. 158 |
Computing Mechanisms | p. 159 |
Eighteen Variations of Differential Linkage | p. 163 |
Space Mechanisms | p. 165 |
Seven Popular Types of Three-Dimensional Drives | p. 167 |
Inchworm Actuator | p. 172 |
Spring, Bellow, Flexure, Screw, and Ball Devices | p. 173 |
Flat Springs in Mechanisms | p. 174 |
Pop-Up Springs Get New Backbone | p. 176 |
Twelve Ways to Put Springs to Work | p. 177 |
Overriding Spring Mechanisms for Low-Torque Drives | p. 179 |
Spring Motors and Typical Associated Mechanisms | p. 181 |
Flexures Accurately Support Pivoting Mechanisms and Instruments | p. 183 |
Taut Bands and Leadscrew Provide Accurate Rotary Motion | p. 185 |
Air Spring Mechanisms | p. 186 |
Obtaining Variable Rates from Springs | p. 188 |
Belleville Springs | p. 189 |
Spring-Type Linkage for Vibration Control | p. 190 |
Twenty Screw Devices | p. 191 |
Ten Ways to Employ Screw Mechanisms | p. 194 |
Seven Special Screw Arrangements | p. 195 |
Fourteen Adjusting Devices | p. 196 |
Linear Roller Bearings Are Suited for High-Load, Heavy-Duty Tasks | p. 197 |
Cam, Toggle, Chain, and Belt Mechanisms | p. 199 |
Cam Basics | p. 200 |
Cam-Curve Generating Mechanisms | p. 201 |
Fifteen Ideas for Cam Mechanisms | p. 207 |
Special-Function Cams | p. 209 |
Cam Drives for Machine Tools | p. 210 |
Toggle Linkage Applications in Different Mechanisms | p. 211 |
Sixteen Latch, Toggle, and Trigger Devices | p. 213 |
Six Snap-Action Mechanisms | p. 215 |
Eight Snap-Action Devices | p. 217 |
Applications of the Differential Winch to Control Systems | p. 219 |
Six Applications for mechanical Power Amplifiers | p. 221 |
Variable-Speed Belt and Chain Drives | p. 224 |
Getting in Step With Hybrid Belts | p. 227 |
Change Center Distance Without Affecting Speed Ratio | p. 231 |
Motor Mount Pivots for Controlled Tension | p. 231 |
Bushed Roller Chains and Their Adaptations | p. 232 |
Six Ingenious Jobs for Roller Chain | p. 234 |
Six More Jobs for Roller Chain | p. 236 |
Mechanisms for Reducing Pulsations in Chain Drives | p. 238 |
Smoother Drive Without Gears | p. 240 |
Geared Systems and Variable-Speed Mechanisms | p. 241 |
Gears and Gearing | p. 242 |
Nutating-Plate Drive | p. 243 |
Cone Drive Needs No Gears or Pulleys | p. 244 |
Variable-Speed Mechanical Drives | p. 245 |
Unidirectional Drive | p. 253 |
More Variable-Speed Drives | p. 254 |
Variable-Speed Friction Drives | p. 256 |
Variable-Speed Drives and Transmissions | p. 258 |
Precision Ball Bearings Replace Gears in Tiny Speed Reducers | p. 260 |
Multifunction Flywheel Smoothes Friction in Tape Cassette Drive | p. 261 |
Controlled Differential Drives | p. 262 |
Twin-Motor Planetary Gears Provide Safety Plus Dual-Speed | p. 263 |
Harmonic-Drive Speed Reducers | p. 263 |
Flexible Face-Gears Make Efficient High-Reduction Drives | p. 266 |
Compact Rotary Sequencer | p. 267 |
Planetary Gear Systems | p. 268 |
Noncircular Gears | p. 275 |
Sheet-Metal Gears, Sprockets, Worms, and Ratchets | p. 279 |
How to Prevent Reverse Rotation | p. 281 |
Gear-Shift Arrangements | p. 282 |
Shifting Mechanisms for Gears and Clutches | p. 284 |
Fine-Focus Adjustments | p. 286 |
Ratchet-Tooth Speed-Change Drive | p. 287 |
Twinworm Gear Drive | p. 287 |
Compliant Gearing for Redundant Torque Drive | p. 289 |
Lighter, More-Efficient Helicopter Transmissions | p. 290 |
Worm Gear With Hydrostatic Engagement | p. 290 |
Straddle Design of Spiral Bevel and Hypoid Gears | p. 292 |
Coupling, Clutching, and Braking Devices | p. 293 |
Coupling of Parallel Shafts | p. 294 |
Novel Linkage Couples Offset Shafts | p. 295 |
Disk-and-Link Coupling Simplifies Transmissions | p. 296 |
Interlocking Space-Frames Flex as They Transmit Shaft Torque | p. 297 |
Off-Center Pins Cancel Misalignment of Shafts | p. 299 |
Hinged Links and Torsion Bushings Give Drives a Soft Start | p. 300 |
Universal Joint Relays Power 45[degree] at Constant Speeds | p. 301 |
Basic Mechanical Clutches | p. 302 |
Spring-Wrapped Slip Clutches | p. 304 |
Controlled-Slip Concept Adds New Uses for Spring Clutches | p. 306 |
Spring Bands Grip Tightly to Drive Overrunning Clutch | p. 307 |
Slip and Bidirectional Clutches Combine to Control Torque | p. 308 |
Walking Pressure Plate Delivers Constant Torque | p. 309 |
Conical-Rotor Motor Provides Instant Clutching or Braking | p. 310 |
Fast-Reversal Reel Drive | p. 310 |
Seven Overrunning Clutches | p. 311 |
Spring-Loaded Pins aid Sprags in One-Way Clutch | p. 312 |
Roller-Type Clutch | p. 312 |
One-Way Output From Speed Reducers | p. 313 |
Springs, Shuttle Pinion, and Sliding Ball Perform in One-Way Drives | p. 314 |
Details of Overriding Clutches | p. 316 |
Ten Ways to Apply Overrunning Clutches | p. 318 |
Applications for Sprag-Type Clutches | p. 320 |
Small Mechanical Clutches for Precise Service | p. 322 |
Mechanisms for Station Clutches | p. 324 |
Twelve Applications for Electromagnetic Clutches and Brakes | p. 326 |
Trip Roller Clutch | p. 328 |
Geared Electromechanical Rotary Joint | p. 329 |
Ten Universal Shaft Couplings | p. 330 |
Methods for Coupling Rotating Shafts | p. 332 |
Linkages for Band Clutches and Brakes | p. 336 |
Special Coupling Mechanisms | p. 337 |
Link Coupling Mechanisms | p. 338 |
Torque-Limiting, Tensioning, and Governing Devices | p. 339 |
Caliper Brakes Help Maintain Proper Tension in Press Feed | p. 340 |
Sensors Aid Clutch/Brakes | p. 340 |
Warning Device Prevents Overloading of Boom | p. 341 |
Constant Watch on Cable Tension | p. 341 |
Torque-Limiters Protect Light-Duty Drives | p. 342 |
Limiters Prevent Overloading | p. 343 |
Seven Ways to Limit Shaft Rotation | p. 346 |
Mechanical Systems for Controlling Tension and Speed | p. 348 |
Drives for Controlling Tension | p. 352 |
Switch Prevents Overloading of a Hoist | p. 355 |
Mechanical, Geared, and Cammed Limit Switches | p. 356 |
Limit Switches in Machinery | p. 358 |
Automatic Speed Governors | p. 362 |
Centrifugal, Pneumatic, Hydraulic, and Electric Governors | p. 364 |
Speed Control Devices for Mechanisms | p. 366 |
Floating-Pinion Torque Splitter | p. 367 |
Pneumatic and Hydraulic Machine and Mechanism Control | p. 369 |
Designs and Operating Principles of Typical Pumps | p. 370 |
Rotary-Pump Mechanisms | p. 374 |
Mechanisms Actuated by Pneumatic or Hydraulic Cylinders | p. 376 |
Foot-Controlled Braking System | p. 378 |
Linkages Actuate Steering in a Tractor | p. 378 |
Fifteen Jobs for Pneumatic Power | p. 379 |
Ten Ways to Use Metal Diaphragms and Capsules | p. 380 |
Differential Transformer Sensing Devices | p. 382 |
High-Speed Counters | p. 384 |
Designing With Permanent Magnets | p. 385 |
Permanent Magnet Mechanisms | p. 387 |
Electrically Driven Hammer Mechanisms | p. 390 |
Thermostatic Mechanisms | p. 392 |
Temperature-Regulating Mechanisms | p. 396 |
Photoelectric Controls | p. 398 |
Liquid Level Indicators and Controllers | p. 400 |
Instant Muscle With Pyrotechnic Power | p. 402 |
Fastening, Latching, Clamping, and Chucking Devices | p. 405 |
Remotely Controlled Latch | p. 406 |
Toggle Fastener Inserts, Locks, and Releases Easily | p. 407 |
Grapple Frees Loads Automatically | p. 407 |
Quick-Release Lock Pin Has a Ball Detent | p. 408 |
Automatic Brake Locks Hoist When Driving Torque Ceases | p. 408 |
Lift-Tong Mechanism Firmly Grips Objects | p. 409 |
Perpendicular-Force Latch | p. 409 |
Quick-Release Mechanisms | p. 410 |
Ring Springs Clamp Platform Elevator Into Position | p. 411 |
Quick-Acting Clamps for Machines and Fixtures | p. 412 |
Friction Clamping Devices | p. 414 |
Detents for Stopping Mechanical Movements | p. 416 |
Ten Different Splined Connections | p. 418 |
Fourteen Ways to Fasten Hubs to Shafts | p. 420 |
Clamping Devices for Accurately Aligning Adjustable Parts | p. 422 |
Spring-Loaded Chucks and Holding Fixtures | p. 424 |
Short In-Line Turnbuckle | p. 424 |
Actuator Exerts Tensile or Compressive Axial Load | p. 425 |
Gripping System for Mechanical Testing of Composites | p. 426 |
Passive Capture Joint With Three Degrees of Freedom | p. 427 |
Probe-and-Socket Fasteners for Robotic Assembly | p. 428 |
Key Equations and Charts for Designing Mechanisms | p. 429 |
Four-Bar Linkages and Typical Industrial Applications | p. 430 |
Designing Geared Five-Bar Mechanisms | p. 432 |
Kinematics of Intermittent Mechanisms--The External Geneva Wheel | p. 436 |
Kinematics of Intermittent Mechanisms--The Internal Geneva Wheel | p. 439 |
Equations for Designing Cycloid Mechanisms | p. 442 |
Designing Crank-and-Rocker Links With Optimum Force Transmission | p. 445 |
Design Curves and Equations for Gear-Slider Mechanisms | p. 448 |
Designing Snap-Action Toggles | p. 452 |
Feeder Mechanisms for Angular Motions | p. 455 |
Feeder Mechanisms for Curvilinear Motions | p. 456 |
Roberts' Law Helps to Find Alternate Four-Bar Linkages | p. 459 |
Ratchet Layout Analyzed | p. 460 |
Slider-Crank Mechanism | p. 461 |
New Directions in Machine Design | p. 463 |
Software Improvements Expand CAD Capabilities | p. 464 |
New Processes Expand Choices for Rapid Prototyping | p. 468 |
Micromachines Open a New Frontier for Machine Design | p. 475 |
Multilevel Fabrication Permits More Complex and Functional MEMS | p. 478 |
Miniature Multispeed Transmissions for Small Motors | p. 481 |
MEMS Chips Become Integrated Microcontrol Systems | p. 482 |
LIGA: An Alternative Method for Making Microminiature Parts | p. 484 |
Index | p. 487 |
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