Theory of Machines and Mechanisms 5th Edition by John Uicker, Gordon Pennock, Joseph Shigley ISBN 9780190264536 0190264535

PART 1 Kinematics and Mechanisms

1 The World of Mechanisms

1.1 INTRODUCTION

1.2 ANALYSIS AND SYNTHESIS

1.3 SCIENCE OF MECHANICS

1.4 TERMINOLOGY, DEFINITIONS, AND ASSUMPTIONS

1.5 PLANAR, SPHERIC, AND SPATIAL MECHANISMS

1.6 MOBILITY

1.7 CHARACTERISTICS OF MECHANISMS

1.8 KINEMATIC INVERSION

1.9 GRASHOF’S LAW

1.10 MECHANICAL ADVANTAGE

1.11 REFERENCES

PROBLEMS

2 Position, Posture, and Displacement

2.1 LOCUS OF A MOVING POINT

2.2 POSITION OF A POINT

2.3 POSITION DIFFERENCE BETWEEN TWO POINTS

2.4 APPARENT POSITION OF A POINT

2.5 ABSOLUTE POSITION OF A POINT

2.6 POSTURE OF A RIGID BODY

2.7 LOOP-CLOSURE EQUATIONS

2.8 GRAPHIC POSTURE ANALYSIS

2.9 ALGEBRAIC POSTURE ANALYSIS

2.10 COMPLEX-ALGEBRAIC SOLUTIONS OF PLANAR VECTOR EQUATIONS

2.11 COMPLEX POLAR ALGEBRA

2.12 POSTURE ANALYSIS TECHNIQUES

2.13 COUPLER-CURVE GENERATION

2.14 DISPLACEMENT OF A MOVING POINT

2.15 DISPLACEMENT DIFFERENCE BETWEEN TWO POINTS

2.16 TRANSLATION AND ROTATION

2.17 APPARENT DISPLACEMENT

2.18 ABSOLUTE DISPLACEMENT

2.19 APPARENT ANGULAR DISPLACEMENT

2.20 REFERENCES

PROBLEMS

3 Velocity

3.1 DEFINITION OF VELOCITY

3.2 ROTATION OF A RIGID BODY

3.3 VELOCITY DIFFERENCE BETWEEN POINTS OF A RIGID BODY

3.4 VELOCITY POLYGONS; VELOCITY IMAGES

3.5 APPARENT VELOCITY OF A POINT IN A MOVING COORDINATE SYSTEM

3.6 APPARENT ANGULAR VELOCITY

3.7 DIRECT CONTACT AND ROLLING CONTACT

3.8 SYSTEMATIC STRATEGY FOR VELOCITY ANALYSIS

3.9 ALGEBRAIC VELOCITY ANALYSIS

3.10 COMPLEX-ALGEBRAIC VELOCITY ANALYSIS

3.11 METHOD OF KINEMATIC COEFFICIENTS

3.12 INSTANTANEOUS CENTERS OF VELOCITY

3.13 ARONHOLD-KENNEDY THEOREM OF THREE CENTERS

3.14 LOCATING INSTANTANEOUS CENTERS OF VELOCITY

3.15 VELOCITY ANALYSIS USING INSTANT CENTERS

3.16 ANGULAR-VELOCITY-RATIO THEOREM

3.17 RELATIONSHIPS BETWEEN FIRST-ORDER KINEMATIC COEFFICIENTS AND INSTANT CENTERS

3.18 FREUDENSTEIN’S THEOREM

3.19 INDICES OF MERIT; MECHANICAL ADVANTAGE

3.20 CENTRODES

3.21 REFERENCES

PROBLEMS

4 Acceleration

4.1 DEFINITION OF ACCELERATION

4.2 ANGULAR ACCELERATION

4.3 ACCELERATION DIFFERENCE BETWEEN POINTS OF A RIGID BODY

4.4 ACCELERATION POLYGONS; ACCELERATION IMAGES

4.5 APPARENT ACCELERATION OF A POINT IN A MOVING COORDINATE SYSTEM

4.6 APPARENT ANGULAR ACCELERATION

4.7 DIRECT CONTACT AND ROLLING CONTACT

4.8 SYSTEMATIC STRATEGY FOR ACCELERATION ANALYSIS

4.9 ALGEBRAIC ACCELERATION ANALYSIS

4.10 COMPLEX-ALGEBRAIC ACCELERATION ANALYSIS

4.11 METHOD OF KINEMATIC COEFFICIENTS

4.12 EULER-SAVARY EQUATION

4.13 BOBILLIER CONSTRUCTIONS

4.14 INSTANTANEOUS CENTER OF ACCELERATION

4.15 BRESSE CIRCLE (OR DE LA HIRE CIRCLE)

4.16 RADIUS OF CURVATURE OF A POINT TRAJECTORY USING KINEMATIC COEFFICIENTS

4.17 CUBIC OF STATIONARY CURVATURE

4.18 REFERENCES

PROBLEMS

5 Multi-Degree-of-Freedom Mechanisms

5.1 INTRODUCTION

5.2 POSTURE ANALYSIS; ALGEBRAIC SOLUTION

5.3 VELOCITY ANALYSIS; VELOCITY POLYGONS

5.4 INSTANTANEOUS CENTERS OF VELOCITY

5.5 FIRST-ORDER KINEMATIC COEFFICIENTS

5.6 METHOD OF SUPERPOSITION

5.7 ACCELERATION ANALYSIS; ACCELERATION POLYGONS

5.8 SECOND-ORDER KINEMATIC COEFFICIENTS

5.9 PATH CURVATURE OF A COUPLER POINT TRAJECTORY

5.10 FINITE DIFFERENCEMETHOD

5.11 REFERENCE

PROBLEMS

PART 2 Design of Mechanisms

6 Cam Design

6.1 INTRODUCTION

6.2 CLASSIFICATION OF CAMS AND FOLLOWERS

6.3 DISPLACEMENT DIAGRAMS

6.4 GRAPHIC LAYOUT OF CAM PROFILES

6.5 KINEMATIC COEFFICIENTS OF FOLLOWER

6.6 HIGH-SPEED CAMS

6.7 STANDARD CAMMOTIONS

6.8 MATCHING DERIVATIVES OF DISPLACEMENT DIAGRAMS

6.9 PLATE CAM WITH RECIPROCATING FLAT-FACE FOLLOWER

6.10 PLATE CAM WITH RECIPROCATING ROLLER FOLLOWER

6.11 RIGID AND ELASTIC CAM SYSTEMS

6.12 DYNAMICS OF AN ECCENTRIC CAM

6.13 EFFECT OF SLIDING FRICTION

6.14 DYNAMICS OF DISK CAM WITH RECIPROCATING ROLLER FOLLOWER

6.15 DYNAMICS OF ELASTIC CAM SYSTEMS

6.16 UNBALANCE, SPRING SURGE, AND WINDUP

6.17 REFERENCES

PROBLEMS

7 Spur Gears

7.1 TERMINOLOGY AND DEFINITIONS

7.2 FUNDAMENTAL LAW OF TOOTHED GEARING

7.3 INVOLUTE PROPERTIES

7.4 INTERCHANGEABLE GEARS; AGMA STANDARDS

7.5 FUNDAMENTALS OF GEAR-TOOTH ACTION

7.6 MANUFACTURE OF GEAR TEETH

7.7 INTERFERENCE AND UNDERCUTTING

7.8 CONTACT RATIO

7.9 VARYING CENTER DISTANCE

7.10 INVOLUTOMETRY

7.11 NONSTANDARD GEAR TEETH

7.12 PARALLEL-AXIS GEAR TRAINS

7.13 DETERMINING TOOTH NUMBERS

7.14 EPICYCLIC GEAR TRAINS

7.15 ANALYSIS OF EPICYCLIC GEAR TRAINS BY FORMULA

7.16 TABULAR ANALYSIS OF EPICYCLIC GEAR TRAINS

7.17 REFERENCES

PROBLEMS

8 Helical Gears, Bevel Gears, Worms, and Worm Gears

8.1 PARALLEL-AXIS HELICAL GEARS

8.2 HELICAL GEAR TOOTH RELATIONS

8.3 HELICAL GEAR TOOTH PROPORTIONS

8.4 CONTACT OF HELICAL GEAR TEETH

8.5 REPLACING SPUR GEARS WITH HELICAL GEARS

8.6 HERRINGBONE GEARS

8.7 CROSSED-AXIS HELICAL GEARS

8.8 STRAIGHT-TOOTH BEVEL GEARS

8.9 TOOTH PROPORTIONS FOR BEVEL GEARS

8.10 BEVEL GEAR EPICYCLIC TRAINS

8.11 CROWN AND FACE GEARS

8.12 SPIRAL BEVEL GEARS

8.13 HYPOID GEARS

8.14 WORMS ANDWORM GEARS

8.15 SUMMERS AND DIFFERENTIALS

8.16 ALL-WHEEL DRIVE TRAIN

8.17 NOTE

PROBLEMS

9 Synthesis of Linkages

9.1 TYPE, NUMBER, AND DIMENSIONAL SYNTHESIS

9.2 FUNCTION GENERATION, PATH GENERATION, AND BODY GUIDANCE

9.3 TWO FINITELY SEPARATED POSTURES OF A RIGID BODY (N = 2)

9.4 THREE FINITELY SEPARATED POSTURES OF A RIGID BODY (N = 3)

9.5 FOUR FINITELY SEPARATED POSTURES OF A RIGID BODY (N = 4)

9.6 FIVE FINITELY SEPARATED POSTURES OF A RIGID BODY (N = 5)

9.7 PRECISION POSTURES; STRUCTURAL ERROR; CHEBYSHEV SPACING

9.8 OVERLAY METHOD

9.9 COUPLER-CURVE SYNTHESIS

9.10 COGNATE LINKAGES; ROBERTS-CHEBYSHEV THEOREM

9.11 FREUDENSTEIN’S EQUATION

9.12 ANALYTIC SYNTHESIS USING COMPLEX ALGEBRA

9.13 SYNTHESIS OF DWELL LINKAGES

9.14 INTERMITTENT ROTARY MOTION

9.15 REFERENCES

PROBLEMS

10 Spatial Mechanisms and Robotics

10.1 INTRODUCTION

10.2 EXCEPTIONS TO THE MOBILITY CRITERION

10.3 SPATIAL POSTURE-ANALYSIS PROBLEM

10.4 SPATIAL VELOCITY AND ACCELERATION ANALYSES

10.5 EULER ANGLES

10.6 DENAVIT-HARTENBERG PARAMETERS

10.7 TRANSFORMATION-MATRIX POSTURE ANALYSIS

10.8 MATRIX VELOCITY AND ACCELERATION ANALYSES

10.9 GENERALIZED MECHANISM ANALYSIS COMPUTER PROGRAMS

10.10 INTRODUCTION TO ROBOTICS

10.11 TOPOLOGICAL ARRANGEMENTS OF ROBOTIC ARMS

10.12 FORWARD KINEMATICS PROBLEM

10.13 INVERSE KINEMATICS PROBLEM

10.14 INVERSE VELOCITY AND ACCELERATION ANALYSES

10.15 ROBOT ACTUATOR FORCE ANALYSIS

10.16 REFERENCES

PROBLEMS

PART 3 Dynamics of Machines

11 Static Force Analysis

11.1 INTRODUCTION

11.2 NEWTON’S LAWS

11.3 SYSTEMS OF UNITS

11.4 APPLIED AND CONSTRAINT FORCES

11.5 FREE-BODY DIAGRAMS

11.6 CONDITIONS FOR EQUILIBRIUM

11.7 TWO- AND THREE-FORCE MEMBERS

11.8 FOUR- AND MORE-FORCE MEMBERS

11.9 FRICTION-FORCE MODELS

11.10 FORCE ANALYSIS WITH FRICTION

11.11 SPUR- AND HELICAL-GEAR FORCE ANALYSIS

11.12 STRAIGHT-TOOTH BEVEL-GEAR FORCE ANALYSIS

11.13 METHOD OF VIRTUAL WORK

11.14 INTRODUCTION TO BUCKLING

11.15 EULER COLUMN FORMULA

11.16 CRITICAL UNIT LOAD

11.17 CRITICAL UNIT LOAD AND SLENDERNESS RATIO

11.18 JOHNSON’S PARABOLIC EQUATION

11.19 REFERENCES

PROBLEMS

12 Dynamic Force Analysis

12.1 INTRODUCTION

12.2 CENTROID AND CENTER OF MASS

12.3 MASS MOMENTS AND PRODUCTS OF INERTIA

12.4 INERTIA FORCES AND D’ALEMBERT’S PRINCIPLE

12.5 PRINCIPLE OF SUPERPOSITION

12.6 PLANAR ROTATION ABOUT A FIXED CENTER

12.7 SHAKING FORCES AND MOMENTS

12.8 COMPLEX-ALGEBRAIC APPROACH

12.9 EQUATION OF MOTION FROM POWER EQUATION

12.10 MEASURING MASS MOMENT OF INERTIA

12.11 TRANSFORMATION OF INERTIA AXES

12.12 EULER’S EQUATIONS OF MOTION

12.13 IMPULSE AND MOMENTUM

12.14 ANGULAR IMPULSE AND ANGULAR MOMENTUM

12.15 REFERENCES

PROBLEMS

13 Vibration Analysis

13.1 DIFFERENTIAL EQUATIONS OF MOTION

13.2 A VERTICAL MODEL

13.3 SOLUTION OF THE DIFFERENTIAL EQUATION

13.4 STEP INPUT FORCING

13.5 PHASE-PLANE REPRESENTATION

13.6 PHASE-PLANE ANALYSIS

13.7 TRANSIENT DISTURBANCES

13.8 FREE VIBRATION WITH VISCOUS DAMPING

13.9 DAMPING OBTAINED BY EXPERIMENT

13.10 PHASE-PLANE REPRESENTATION OF DAMPED VIBRATION

13.11 RESPONSE TO PERIODIC FORCING

13.12 HARMONIC FORCING

13.13 FORCING CAUSED BY UNBALANCE

13.14 RELATIVE MOTION

13.15 ISOLATION

13.16 RAYLEIGH’S METHOD

13.17 FIRST AND SECOND CRITICAL SPEEDS OF A SHAFT

13.18 TORSIONAL SYSTEMS

13.19 REFERENCES

PROBLEMS

14 Dynamics of Reciprocating Engines

14.1 ENGINE TYPES

14.2 INDICATOR DIAGRAMS

14.3 DYNAMIC ANALYSIS—GENERAL

14.4 GAS FORCES

14.5 EQUIVALENT MASSES

14.6 INERTIA FORCES

14.7 BEARING LOADS IN A SINGLE-CYLINDER ENGINE

14.8 SHAKING FORCES OF ENGINES

14.9 COMPUTATION HINTS

PROBLEMS

15 Balancing

15.1 STATIC UNBALANCE

15.2 EQUATIONS OF MOTION

15.3 STATIC BALANCING MACHINES

15.4 DYNAMIC UNBALANCE

15.5 ANALYSIS OF UNBALANCE

15.6 DYNAMIC BALANCING

15.7 DYNAMIC BALANCING MACHINES

15.8 FIELD BALANCING WITH A PROGRAMMABLE CALCULATOR

15.9 BALANCING A SINGLE-CYLINDER ENGINE

15.10 BALANCING MULTI-CYLINDER ENGINES

15.11 ANALYTIC TECHNIQUE FOR BALANCING MULTI-CYLINDER ENGINES

15.12 BALANCING LINKAGES

15.13 BALANCING OF MACHINES

15.14 REFERENCES

PROBLEMS

16 Flywheels, Governors, and Gyroscopes

16.1 DYNAMIC THEORY OF FLYWHEELS

16.2 INTEGRATION TECHNIQUE

16.3 MULTI-CYLINDER ENGINE TORQUE SUMMATION

16.4 CLASSIFICATION OF GOVERNORS

16.5 CENTRIFUGAL GOVERNORS

16.6 INERTIA GOVERNORS

16.7 MECHANICAL CONTROL SYSTEMS

16.8 STANDARD INPUT FUNCTIONS

16.9 SOLUTION OF LINEAR DIFFERENTIAL EQUATIONS

16.10 ANALYSIS OF PROPORTIONAL-ERROR FEEDBACK SYSTEMS

16.11 INTRODUCTION TO GYROSCOPES

16.12 MOTION OF A GYROSCOPE

16.13 STEADY OR REGULAR PRECESSION

16.14 FORCED PRECESSION

16.15 REFERENCES

PROBLEMS

Appendixes

Appendix A: Tables

Appendix B

INDEX

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