Theory of Machines and Mechanisms

by Uicker, John J.; Pennock, Gordon R.; Shigley, Joseph E.

• ISBN13: 9780195155983
• ISBN10: 019515598X
• Edition: 3rd
• Format: Hardcover
• Copyright: 2003-01-09
• Publisher: Oxford University Press

Summary

Theory of Machines and Mechanisms provides the foundation for the study of displacements, velocities, accelerations, and static and dynamic forces required for the proper design of mechanical linkages, cams, and geared systems. The authors present the background, notation, and nomenclature essential for students to understand the various and independent technical approaches that exist in the field of mechanisms, kinematics, and dynamics. Coverage of all analysis and development methods is balanced, with the use of both analytic and graphic tools. This text is ideal for senior or graduate students studying mechanical engineering, taking a kinematics and/or machine dynamics course. Features Includes an introduction to kinematic coefficients, which clearly separates kinematic (geometric) effects from operating speed and other dynamic dependences, and unifies the coverage of linkages with that for cams and geared systems Contains entirely new chapters on the analysis and design of flywheels, governors, and gyroscopes Provides graphical and analytical solutions to exercises, now verified by professional CAD software with an accuracy rate of better than one percent Offers new, quality illustrations, now in two colors Solutions Manual and PowerPointRG Overheads available to adopters only

Author Biography

John J. Uicker, Jr. is a Professor of Mechanical Engineering at the University of Wisconsin - Madison. His teaching and research specialties are in solid geometric modeling, modeling of mechanical motion and their application to computer-aided design and manufacture. He received his Ph.D. in mechanical engineering from Northwestern University and joined the University of Wisconsin faculty in 1967. Uicker is one of the founding members of the US Council for the Theory of Machines and Mechanisms. He served for several years as editor-in-chief of the Mechanism and MachineTheory.
Gordon R. Pennock is an Associate Professor of Mechanical Engineering at Purdue University, West Lafayette, Indiana. His teaching experience is primarily in the area of machine design. His research specialties are in theoretical kinematics and in the dynamics of mechanical motion. He has applied his research to robotics, rotary machinery and biomechanics, including kinematics and dynamics of articulated rigid-body mechanical systems.
He received his Ph.D. degree in mechanical engineering from the University of California, Davis. Since joining the Purdue University faculty in 1983, he has served on several national committees and international program committees. He is the Student Section Advisor of the American Society of Mechanical Engineers (ASME) at Purdue University, Region VI College Relations Chairman, Senior Representative on the Student Section Committee, and a member of the Board on Student Affairs. He is also an Associate of the Internal Combustion Engine Division, ASME, and served as the Technical Committee Chairman of Mechanical Design, Internal Combustion Engine Division, from 1993-1997. He is a Fellow of the American Society of Mechanical Engineers.
Joseph E. Shigley (deceased May 1994) was Professor Emeritus of Mechanical Engineering at the University of Michigan and a Fellow in the American Society of Mechanical Engineers. He held the Mechanisms Committee Award, the Worcester Reed Warner medal and the Machine Design Award. He was an author of eight books, including Mechanical Engineering Design (with Charles R. Mischke) and Applied Mechanics of Materials. He was also Coeditor-in-Chief of the Standard Handbook of Machine Design. He first wrote Kinematic Analysis of Mechanisms in 1958 and Dynamic Analysis of Machines in 1961. These texts became published in a single volume titled Theory of Machines in 1961 and evolved over the years to the current text, Theory of Machines and Mechanisms, now in its third edition.

Table of Contents

Preface	xiii
About the Authors	xvii
Part 1 KINEMATICS AND MECHANISMS	1	(194)
The World of Mechanisms	3	(30)
Introduction	3	(1)
Analysis and Synthesis	4	(1)
The Science of Mechanics	4	(1)
Terminology, Definitions, and Assumptions	5	(5)
Planar, Spherical, and Spatial Mechanisms	10	(1)
Mobility	11	(3)
Classification of Mechanisms	14	(12)
Kinematic Inversion	26	(1)
Grashof's Law	27	(2)
Mechanical Advantage	29	(4)
Problems	31	(2)
Position and Displacement	33	(46)
Locus of a Moving Point	33	(3)
Position of a Point	36	(1)
Position Difference Between Two Points	37	(1)
Apparent Position of a Point	38	(1)
Absolute Position of a Point	39	(2)
The Loop-Closure Equation	41	(4)
Graphic Position Analysis	45	(6)
Algebraic Position Analysis	51	(4)
Complex-Algebra Solutions of Planar Vector Equations	55	(2)
Complex Polar Algebra	57	(3)
Position Analysis Techniques	60	(4)
The Chace Solutions to Planar Vector Equations	64	(4)
Coupler-Curve Generation	68	(2)
Displacement of a Moving Point	70	(1)
Displacement Difference Between Two Points	71	(1)
Rotation and Translation	72	(2)
Apparent Displacement	74	(1)
Absolute Displacement	75	(4)
Problems	76	(3)
Velocity	79	(62)
Definition of Velocity	79	(1)
Rotation of a Rigid Body	80	(2)
Velocity Difference Between Points of a Rigid Body	82	(3)
Graphic Methods; Velocity Polygons	85	(7)
Apparent Velocity of a Point in a Moving Coordinate System	92	(5)
Apparent Angular Velocity	97	(1)
Direct Contact and Rolling Contact	98	(1)
Systematic Strategy for Velocity Analysis	99	(1)
Analytic Methods	100	(1)
Complex-Algebra Methods	101	(4)
The Method of Kinematic Coefficients	105	(11)
The Vector Method	116	(1)
Instantaneous Center of Velocity	117	(2)
The Aronhold-Kennedy Theorem of Three Centers	119	(1)
Locating Instant Centers of Velocity	120	(3)
Velocity Analysis Using Instant Centers	123	(3)
The Angular-Velocity-Ratio Theorem	126	(1)
Relationships Between First-Order Kinematic Coefficients and Instant Centers	127	(2)
Freudenstein's Theorem	129	(1)
Indices of Merit; Mechanical Advantage	130	(3)
Centrodes	133	(8)
Problems	135	(6)
Acceleration	141	(54)
Definition of Acceleration	141	(3)
Angular Acceleration	144	(1)
Acceleration Difference Between Points of a Rigid Body	144	(7)
Acceleration Polygons	151	(4)
Apparent Acceleration of a Point in a Moving Coordinate System	155	(8)
Apparent Angular Acceleration	163	(1)
Direct Contact and Rolling Contact	164	(3)
Systematic Strategy for Acceleration Analysis	167	(1)
Analytic Methods	168	(1)
Complex-Algebra Methods	169	(2)
The Method of Kinematic Coefficients	171	(4)
The Chace Solutions	175	(2)
The Instant Center of Acceleration	177	(1)
The Euler-Savary Equation	178	(5)
The Bobillier Constructions	183	(4)
Radius of Curvature of a Point Trajectory Using Kinematic Coefficients	187	(1)
The Cubic of Stationary Curvature	188	(7)
Problems	190	(5)
Part 2 DESIGN OF MECHANISMS	195	(228)
Cam Design	197	(55)
Introduction	197	(1)
Classification of Cams and Followers	198	(2)
Displacement Diagrams	200	(3)
Graphical Layout of Cam Profiles	203	(4)
Kinematic Coefficients of the Follower Motion	207	(4)
High-Speed Cams	211	(1)
Standard Cam Motions	212	(10)
Matching Derivatives of the Displacement Diagrams	222	(3)
Plate Cam with Reciprocating Flat-Face Follower	225	(5)
Plate Cam with Reciprocating Roller Follower	230	(22)
Problems	250	(2)
Spur Gears	252	(34)
Terminology and Definitions	252	(3)
Fundamental Law of Toothed Gearing	255	(1)
Involute Properties	256	(1)
Interchangeable Gears; AGMA Standards	257	(2)
Fundamentals of Gear-Tooth Action	259	(3)
The Manufacture of Gear Teeth	262	(3)
Interference and Undercutting	265	(3)
Contact Ratio	268	(2)
Varying the Center Distance	270	(1)
Involutometry	271	(3)
Nonstandard Gear Teeth	274	(12)
Problems	282	(4)
Helical Gears	286	(11)
Parallel-Axis Helical Gears	286	(1)
Helical Gear Tooth Relations	287	(2)
Helical Gear Tooth Proportions	289	(1)
Contact of Helical Gear Teeth	290	(1)
Replacing Spur Gears with Helical Gears	291	(1)
Herringbone Gears	292	(1)
Crossed-Axis Helical Gears	292	(5)
Problems	295	(2)
Bevel Gears	297	(9)
Straight-Tooth Bevel Gears	297	(4)
Tooth Proportions for Bevel Gears	301	(1)
Crown and Face Gears	302	(1)
Spiral Bevel Gears	303	(1)
Hypoid Gears	304	(2)
Problems	305	(1)
Worms and Worm Gears	306	(5)
Basics	306	(5)
Problems	310	(1)
Mechanism Trains	311	(21)
Parallel-Axis Gear Trains	311	(2)
Examples of Gear Trains	313	(1)
Determining Tooth Numbers	314	(1)
Epicyclic Gear Trains	315	(2)
Bevel Gear Epicyclic Trains	317	(1)
Analysis of Planetary Gear Trains by Formula	317	(2)
Tabular Analysis of Planetary Gear Trains	319	(4)
Adders and Differentials	323	(4)
All Wheel Drive Train	327	(5)
Problems	329	(3)
Synthesis of Linkages	332	(36)
Type, Number, and Dimensional Synthesis	332	(1)
Function Generation, Path Generation, and Body Guidance	333	(1)
Two-Position Synthesis of Slider-Crank Mechanisms	333	(1)
Two-Position Synthesis of Crank-and-Rocker Mechanisms	334	(1)
Crank-Rocker Mechanisms with Optimum Transmission Angle	335	(3)
Three-Position Synthesis	338	(1)
Four-Position Synthesis; Point-Precision Reduction	339	(2)
Precision Positions; Structural Error; Chebychev Spacing	341	(2)
The Overlay Method	343	(1)
Coupler-Curve Synthesis	344	(4)
Cognate Linkages; The Roberts-Chebychev Theorem	348	(2)
Bloch's Method of Synthesis	350	(2)
Freudenstein's Equation	352	(4)
Analytic Synthesis Using Complex Algebra	356	(4)
Synthesis of Dwell Mechanisms	360	(1)
Intermittent Rotary Motion	361	(7)
Problems	366	(2)
Spatial Mechanisms	368	(35)
Introduction	368	(1)
Exceptions in the Mobility of Mechanisms	369	(4)
The Position-Analysis Problem	373	(5)
Velocity and Acceleration Analyses	378	(6)
The Eulerian Angles	384	(3)
The Denavit-Hartenberg Parameters	387	(2)
Transformation-Matrix Position Analysis	389	(3)
Matrix Velocity and Acceleration Analyses	392	(5)
Generalized Mechanism Analysis Computer Programs	397	(6)
Problems	400	(3)
Robotics	403	(20)
Introduction	403	(1)
Topological Arrangements of Robotic Arms	404	(3)
Forward Kinematics	407	(4)
Inverse Position Analysis	411	(3)
Inverse Velocity and Acceleration Analyses	414	(4)
Robot Actuator Force Analyses	418	(5)
Problems	421	(2)
Part 3 DYNAMICS OF MACHINES	423	(302)
Static Force Analysis	425	(45)
Introduction	425	(2)
Newton's Laws	427	(1)
Systems of Units	428	(1)
Applied and Constraint Forces	429	(3)
Free-Body Diagrams	432	(1)
Conditions for Equilibrium	433	(2)
Two- and Three-Force Members	435	(8)
Four-Force Members	443	(2)
Friction-Force Models	445	(3)
Static Force Analysis with Friction	448	(3)
Spur- and Helical-Gear Force Analysis	451	(6)
Straight-Bevel-Gear Force Analysis	457	(4)
The Method of Virtual Work	461	(9)
Problems	464	(6)
Dynamic Force Analysis (Planar)	470	(45)
Introduction	470	(1)
Centroid and Center of Mass	470	(5)
Mass Moments and Products of Inertia	475	(3)
Inertia Forces and D'Alembert's Principle	478	(7)
The Principle of Superposition	485	(4)
Planar Rotation About a Fixed Center	489	(3)
Shaking Forces and Moments	492	(1)
Complex Algebra Approach	492	(10)
Equation of Motion	502	(13)
Problems	511	(4)
Dynamic Force Analysis (Spatial)	515	(27)
Introduction	515	(1)
Measuring Mass Moment of Inertia	515	(4)
Transformation of Inertia Axes	519	(4)
Euler's Equations of Motion	523	(4)
Impulse and Momentum	527	(1)
Angular Impulse and Angular Momentum	528	(14)
Problems	538	(4)
Vibration Analysis	542	(56)
Differential Equations of Motion	542	(4)
A Vertical Model	546	(1)
Solution of the Differential Equation	547	(4)
Step Input Forcing	551	(2)
Phase-Plane Representation	553	(2)
Phase-Plane Analysis	555	(4)
Transient Disturbances	559	(4)
Free Vibration with Viscous Damping	563	(2)
Damping Obtained by Experiment	565	(2)
Phase-Plane Representation of Damped Vibration	567	(4)
Response to Periodic Forcing	571	(3)
Harmonic Forcing	574	(5)
Forcing Caused by Unbalance	579	(1)
Relative Motion	580	(1)
Isolation	580	(3)
Rayleigh's Method	583	(3)
First and Second Critical Speeds of a Shaft	586	(6)
Torsional Systems	592	(6)
Problems	594	(4)
Dynamics of Reciprocating Engines	598	(23)
Engine Types	598	(5)
Indicator Diagrams	603	(3)
Dynamic Analysis---General	606	(1)
Gas Forces	606	(3)
Equivalent Masses	609	(1)
Inertia Forces	610	(3)
Bearing Loads in a Single-Cylinder Engine	613	(3)
Crankshaft Torque	616	(1)
Engine Shaking Forces	616	(1)
Computation Hints	617	(4)
Problems	620	(1)
Balancing	621	(44)
Static Unbalance	621	(1)
Equations of Motion	622	(2)
Static Balancing Machines	624	(2)
Dynamic Unbalance	626	(1)
Analysis of Unbalance	627	(8)
Dynamic Balancing	635	(3)
Balancing Machines	638	(2)
Field Balancing with a Programmable Calculator	640	(3)
Balancing a Single-Cylinder Engine	643	(4)
Balancing Multicylinder Engines	647	(4)
Analytical Technique for Balancing Multicylinder Reciprocating Engines	651	(5)
Balancing Linkages	656	(5)
Balancing of Machines	661	(4)
Problems	663	(2)
Cam Dynamics	665	(13)
Rigid- and Elastic-Body Cam Systems	665	(1)
Analysis of an Eccentric Cam	666	(4)
Effect of Sliding Friction	670	(1)
Analysis of Disk Cam with Reciprocating Roller Follower	671	(2)
Analysis of Elastic Cam Systems	673	(2)
Unbalance, Spring Surge, and Windup	675	(3)
Problems	676	(2)
Flywheels	678	(7)
Dynamic Theory	678	(2)
Integration Technique	680	(2)
Multicylinder Engine Torque Summation	682	(3)
Problems	683	(2)
Governors	685	(14)
Classification	685	(1)
Centrifugal Governors	686	(1)
Inertia Governors	687	(1)
Mechanical Control Systems	687	(2)
Standard Input Functions	689	(1)
Solution of Linear Differential Equations	690	(5)
Analysis of Proportional-Error Feedback Systems	695	(4)
Gyroscopes	699	(26)
Introduction	699	(1)
The Motion of a Gyroscope	700	(1)
Steady or Regular Precession	701	(3)
Forced Precession	704	(8)
Problems	711	(1)
APPENDIXES
Appendix A: Tables
Table 1 Standard SI Prefixes	712	(1)
Table 2 Conversion from U.S. Customary Units to SI Units	713	(1)
Table 3 Conversion from SI Units to U.S. Customary Units	713	(1)
Table 4 Properties of Areas	714	(1)
Table 5 Mass Moments of Inertia	715	(1)
Table 6 Involute Function	716	(2)
Appendix B: Answers to Selected Problems	718	(7)
Index	725