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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 | |