What is included with this book?
Theory of Machines and Mechanisms provides a text for the complete 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 independent technical approaches that exist in the field of mechanisms, kinematics, and dynamics.
Now fully revised in its fourth edition, this text is ideal for senior undergraduate or graduate students in mechanical engineering who are taking a course in kinematics and/or machine dynamics.
New to the Fourth Edition
- Includes more worked examples throughout, and many new and updated end-of-chapter homework problems
- Coverage of helical gears, bevel gears, worms, and worm gears is now integrated into a single chapter
- Material on planar and spatial dynamic force analysis is now integrated into a single chapter
- A completely new chapter has been added on multi-degree-of-freedom planar linkage analysis
- The chapter on kinematic synthesis has been markedly expanded, and now includes three and four accuracy position graphical methods
- The chapter on static force analysis has been expanded to included coverage of buckling of axially-loaded two-force members under compression
Supplements
- In-text CD includes Working Model animations of many figures from the text to help students visualize and comprehend their movement
- A companion website for instructors (www.oup.com/us/uicker) provides additional information and resources, including PowerPoint-based slides of figures from the text
Preface | |
About the Authors | |
Kinematics and Mechanisms | |
The World of Mechanisms | |
Introduction | |
Analysis and Synthesis | |
The Science of Mechanics | |
Terminology, Definitions, and Assumptions | |
Planar, Spherical, and Spatial Mechanisms | |
Mobility | |
Classification of Mechanisms | |
Kinematic Inversion | |
Grashof's Law | |
Mechanical Advantage | |
Problems | |
Position and Displacement | |
Locus of a Moving Point | |
Position of a Point | |
Position Difference Between Two Points | |
Apparent Position of a Point | |
Absolute Position of a Point | |
The Loop-Closure Equation | |
Graphic Position Analysis | |
Algebraic Position Analysis | |
Complex-Algebra Solutions of Planar Vector Equations | |
Complex Polar Algebra | |
The Chace Solutions to Planar Vector Equations | |
Position Analysis Techniques | |
Coupler-Curve Generation | |
Displacement of a Moving Point | |
Displacement Difference Between Two Points | |
Rotation and Translation | |
Apparent Displacement | |
Absolute Displacement | |
Apparent Angular Displacement | |
Problems | |
Velocity | |
Definition of Velocity | |
Rotation of a Rigid Body | |
Velocity Difference Between Points of a Rigid Body | |
Graphic Methods | |
Velocity Polygons | |
Apparent Velocity of a Point in a Moving Coordinate System | |
Apparent Angular Velocity | |
Direct Contact and Rolling Contact | |
Systematic Strategy for Velocity Analysis | |
Analytic Methods | |
Complex-Algebra Methods | |
The Vector Method | |
The Method of Kinematic Coefficients | |
Instantaneous Center of Velocity | |
The Aronhold-Kennedy Theorem of Three Centers | |
Locating Instant Centers of Velocity | |
Velocity Analysis Using Instant Centers | |
The Angular Velocity Ratio Theorem | |
Relationships Between First-Order Kinematic Coefficients and Instant Centers | |
Freudenstein's Theorem | |
Indices of Merit | |
Mechanical Advantage | |
Centrodes | |
Problems | |
Acceleration | |
Definition of Acceleration | |
Angular Acceleration | |
Acceleration Difference Between Points of a Rigid Body | |
Acceleration Polygons | |
Apparent Acceleration of a Point in a Moving Coordinate System | |
Apparent Angular Acceleration | |
Direct Contact and Rolling Contact | |
Systematic Strategy for Acceleration Analysis | |
Analytic Methods | |
Complex-Algebra Methods | |
The Chace Solutions | |
The Method of Kinematic Coefficients | |
The Euler-Savary Equation | |
The Bobillier Constructions | |
The Instant Center of Acceleration | |
The Bresse Circle (or de La Hire Circle) | |
Radius of Curvature of Point Trajectory Using Kinematic Coefficients | |
The Cubic of Stationary Curvature | |
Problems | |
Multi-Degree-of-Freedom Planar Linkages | |
Introduction | |
Position Analysis | |
Algebraic Solution | |
Graphic Methods | |
Velocity Polygons | |
Instant Centers of Velocity | |
First-Order Kinematic Coefficients | |
The Method of Superposition | |
Graphic Method | |
Acceleration Polygons | |
Second-Order Kinematic Coefficients | |
Path Curvature of a Coupler Point | |
The Finite Difference Method | |
Problems | |
Design of Mechanisms | |
Cam Design | |
Introduction | |
Classification of Cams and Followers | |
Displacement Diagrams | |
Graphical Layout of Cam Profiles | |
Kinematic Coefficients of the Follower Motion | |
High-Speed Cams | |
Standard Cam Motions | |
Matching Derivatives of Displacement Diagrams | |
Plate Cam with Reciprocating Flat-Face Follower | |
Plate Cam with Reciprocating Roller Follower | |
Problems | |
Spur Gears | |
Terminology and Definitions | |
Fundamental Law of Toothed Gearing | |
Involute Properties | |
Interchangeable Gears | |
AGMA Standards | |
Fundamentals of Gear-Tooth Action | |
The Manufacture of Gear Teeth | |
Interference and Undercutting | |
Contact Ratio | |
Varying the Center Distance | |
Involutometry | |
Nonstandard Gear Teeth | |
Problems | |
Helical Gears, Bevel Gears, Worms and Worm Gears | |
Parallel-Axis Helical Gears | |
Helical Gear Tooth Relations | |
Helical Gear Tooth Proportions | |
Contact of Helical Gear Teeth | |
Replacing Spur Gears with Helical Gears | |
Herringbone Gears | |
Crossed-Axis Helical Gears | |
Straight-Tooth Bevel Gears | |
Tooth Proportions for Bevel Gears | |
Crown and Face Gears | |
Spiral Bevel Gears | |
Hypoid Gears | |
Worms and Worm Gears | |
Problems | |
Mechanism Trains | |
Parallel-Axis Gear Trains | |
Examples of Gear Trains | |
Determining Tooth Numbers | |
Epicyclic Gear Trains | |
Bevel Gear Epicyclic Trains | |
Analysis of Epicyclic Gear Trains by Formula | |
Tabular Analysis of Epicyclic Gear Trains | |
Summers and Differentials | |
All Wheel Drive Train | |
Problems | |
Synthesis of Linkages | |
Type, Number, and Dimensional Synthesis | |
Function Generation, Path Generation, and Body Guidance | |
Two Finitely Separated Positions of a Rigid Body (N = 2) | |
Three Finitely Separated Positions of a Rigid Body (N = 3) | |
Four Finitely Separated Positions of a Rigid Body (N = 4) | |
Five Finitely Separated Positions of a Rigid Body (N = 5) | |
Precision Positions | |
Structural Error | |
Chebychev Spacing | |
The Overlay Method | |
Coupler-Curve Synthesis | |
Cognate Linkages | |
The Roberts-Chebychev Theorem | |
Freudenstein's Equation | |
Analytic Synthesis Using Complex Algebra | |
Synthesis of Dwell Mechanisms | |
Intermittent Rotary Motion | |
Problems | |
Spatial Mechanisms | |
Introduction | |
Exceptions to the Mobility of Mechanisms | |
The Spatial Position-Analysis Problem | |
Spatial Velocity and Acceleration Analyses | |
Euler Angles | |
The Denavit-Hartenberg Parameters | |
Transformation-Matrix Position Analysis | |
Matrix Velocity and Acceleration Analyses | |
Generalized Mechanism Analysis Computer Programs | |
Problems | |
Robotics | |
Introduction | |
Topological Arrangements of Robotic Arms | |
Forward Kinematics | |
Inverse Position Analysis | |
Inverse Velocity and Acceleration Analyses | |
Robot Actuator Force Analysis | |
Problems | |
Dynamics of Machines | |
Static Force Analysis | |
Introduction | |
Newton's Laws | |
Systems of Units | |
Applied and Constraint Forces | |
Free-Body Diagrams | |
Conditions for Equilibrium | |
Two- and Three-Force Members | |
Four-Force Members | |
Friction-Force Models | |
Static Force Analysis with Friction | |
Spur- and Helical-Gear Force Analysis | |
Straight-Tooth-Bevel-Gear Force Analysis | |
The Method of Virtual Work | |
Euler Column Formula | |
The Critical Unit Load | |
Critical Unit Load and the Slenderness Ratio | |
The Johnson Parabolic Equation | |
Problems | |
Dynamic Force Analysis | |
Introduction | |
Centroid and Center of Mass | |
Mass Moments and Products of Inertia | |
Inertia Forces and D'Alembert's Principle | |
The Principle of Superposition | |
Planar Rotation about a Fixed Center | |
Shaking Forces and Moments | |
Complex Algebra Approach | |
Equation of Motion From Power Equation | |
Measuring Mass Moment of Inertia | |
Transformation of Inertia Axes | |
Euler's Equations of Motion | |
Impulse and Momentum | |
Angular Impulse and Angular Momentum | |
Problems | |
Vibration Analysis | |
Differential Equations of Motion | |
A Vertical Model | |
Solution of the Differential Equation | |
Step Input Forcing | |
Phase-Plane Representation | |
Phase-Plane Analysis | |
Transient Disturbances | |
Free Vibration with Viscous Damping | |
Damping Obtained by Experiment | |
Phase-Plane Representation of Damped Vibration | |
Response to Periodic Forcing | |
Harmonic Forcing | |
Forcing Caused by Unbalance | |
Relative Motion | |
Isolation | |
Rayleigh's Method | |
First and Second Critical Speeds of a Shaft | |
Torsional Systems | |
Problems | |
Dynamics of Reciprocating Engines | |
Engine Types | |
Indicator Diagrams | |
Dynamic Analysis-General | |
Gas Forces | |
Equivalent Masses | |
Inertia Forces | |
Bearing Loads in a Single-Cylinder Engine | |
Crankshaft Torque | |
Shaking Forces of Engines | |
Computation Hints | |
Problems | |
Balancing | |
Static Unbalance | |
Equations of Motion | |
Static Balancing Machines | |
Dynamic Unbalance | |
Analysis of Unbalance | |
Dynamic Balancing | |
Balancing Machines | |
Field Balancing with a Programmable Calculator | |
Balancing a Single-Cylinder Engine | |
Balancing Multi-Cylinder Engines | |
Analytical Technique for Balancing Multi-Cylinder Engines | |
Balancing Linkages | |
Balancing of Machines | |
Problems | |
Cam Dynamics | |
Rigid- and Elastic-Body Cam Systems | |
Analysis of an Eccentric Cam | |
Effect of Sliding Friction | |
Analysis of Disk Cam with Reciprocating Roller Follower | |
Analysis of Elastic Cam Systems | |
Unbalance, Spring Surge, and Windup | |
Problems | |
Flywheels, Governors, and Gyroscopes | |
Dynamic Theory of Flywheels | |
Integration Technique | |
Multi-Cylinder Engine Torque Summation | |
Classification of Governors | |
Centrifugal Governors | |
Inertia Governors | |
Mechanical Control Systems | |
Standard Input Functions | |
Solution of Linear Differential Equations | |
Analysis of Proportional-Error Feedback Systems | |
Introduction to Gyroscopes | |
The Motion of a Gyroscope | |
Steady or Regular Precession | |
Forced Precession | |
Problems | |
Appendixes | |
Tables | |
Standard SI Prefixes | |
Conversion from US Customary Units to SI Units | |
Conversion from SI Units to US Customary Units | |
Properties of Areas | |
Mass Moments of Inertia | |
Involute Function | |
Answers to Selected Problems | |
Index | |
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