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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