Theory of Machines and Mechanisms

by Uicker, John; Pennock, Gordon; Shigley, Joseph

• ISBN13: 9780195371239
• ISBN10: 0195371232
• Edition: 4th
• Format: Hardcover
• Copyright: 2010-02-26
• Publisher: Oxford University Press

Summary

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

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.
Professor Shigley was awarded the B.S.M.E. and B.S.E.E. degrees at Purdue University and the M.S. at the University of Michigan. After several years in industry, he devoted his career to teaching, writing, and service to his profession starting first at Clemson University and later at the University of Michigan. His textbooks have been widely used throughout the United States and abroad.

Table of Contents

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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