Kinematics and Dynamics of Machines

by Martin, G. H.

• ISBN13: 9781577662501
• ISBN10: 1577662504
• Edition: 2nd
• Format: Hardcover
• Copyright: 2002-05-01
• Publisher: Waveland Pr Inc

Table of Contents

Preface	xi
Part 1 Kinematics of Machines
Fundamental Concepts	3	(17)
Kinematics
Dynamics
Machine
Kinematic Diagram
Mechanism
Inversion
Pairing
Plane Motion
Translation
Rotation
Translation and Rotation
Helical Motion
Spherical Motion
Cycle, Period, and Phase of Motion
Vectors
Addition and Subtraction of Vectors
Composition and Resolution of Vectors
Properties of Motion, Relative Motion, Methods of Motion Transmission	20	(24)
Introduction
Path of Motion and Distance
Linear Displacement and Velocity
Angular Displacement and Velocity
Linear and Angular Acceleration
Normal and Tangential Acceleration
Simple Harmonic Motion
Absolute Motion
Relative Motion
Methods of Transmitting Motion
Line of Transmission
Angular-Velocity Ratio
Constant Angular-Velocity Ratio
Sliding Contact
Rolling Contact
Positive Drive
Linkages	44	(25)
Four-Bar Linkage
Parallel-Crank Four-Bar Linkage
Nonparallel Equal-Crank Linkage
Crank and Rocker
Drag Link
Slider-Crank Mechanism
Scotch Yoke
Quick-Return Mechanisms
Straight-Line Mechanisms
Parallel Mechanisms
Toggle Mechanisms
Oldham Coupling
Universal Joints
Intermittent-Motion Mechanisms
Elliptic Trammel
Instant Centers	69	(19)
Introduction
Instant Center
Instant Center at a Pin Connection
Instant Center for a Body When the Velocities of Two Points Are Known in Direction
Instant Center for a Sliding Body
Instant Center for a Rolling Body
Kennedy's Theorem
Instant Centers for a Direct-Contact Mechanism
Number of Instant Centers for a Mechanism
Primary Instant Centers
Circle Diagram Method for Locating Instant Centers
Centrodes
Velocities by Instant Centers and by Components	88	(11)
Introduction
Linear Velocities by Instant Centers
Velocities in a Four-Bar Linkage
Velocities in a Slider-Crank Mechanism
Velocities in a Cam Mechanism
Velocities in a Compound Linkage
Angular Velocities
Velocities by Components
Velocities in Mechanisms by Method of Relative Velocities	99	(20)
Introduction
Linear Velocities
Velocity Image
Angular Velocities
Velocities of Points on a Rolling Body
Velocities in Complex Linkages
Accelerations in Mechanisms	119	(34)
Introduction
Linear Acceleration
Acceleration Image
Angular Acceleration
Equivalent Linkages
Accelerations for Members in Rolling Contact
Coriolis Acceleration
Hartmann's Construction
Euler-Savary Equation
Velocity and Acceleration Graphs and Graphical Differentiation	153	(18)
Introduction
Velocity and Acceleration Graphs
Polar Velocity Graphs
Angular-Velocity and Acceleration Graphs
Graphical Differentiation
Mathematical Analysis	171	(23)
Introduction
Analysis by Trigonometry
Vectors as Complex Numbers
Analysis by Complex Numbers
Cams	194	(38)
Introduction
Cam Types
Displacement Diagrams
Constant Acceleration
Modified Constant Velocity
Simple Harmonic Motion
Cycloidal Motion
Summary of Equations for Common Follower Motions
Comparison of Motion Curves
Construction of Cam Profile
Disk Cam with Reciprocating Knife-Edge Follower
Disk Cam with Reciprocating Roller Follower
Disk Cam with Offset Roller Follower
Pressure Angle
Disk Cam with Oscillating Roller Follower
Disk Cam with Reciprocating Flat-Faced Follower
Disk Cam with Oscillating Flat-Faced Follower
Design Limitations
Cam Production
Disk Cam---Calculation of Pitch Curve and Pressure Angle
Disk Cam with Roller Follower---Cutter or Grinder Location
Disk Cam with Flat-Faced Follower---Cutter or Grinder Location
Circular-Arc Disk Cams
Positive-Return Cam
Cylindrical Cam
Inverse Cam
Rolling Contact	232	(8)
Introduction
Conditions for Rolling
Rolling Cylinders
Rolling Cones
Rolling Hyperboloids
Rolling Ellipses
General Case of Rolling Curves
Gears	240	(44)
Introduction
Fundamental Law of Gearing
Nomenclature
Involute Gear Teeth
Construction of an Involute
Involute Nomenclature
Involute Gear-Tooth Action
Involute Rack and Pinion
Contact Ratio
Involute Interference and Undercutting
Checking for Interference
Standard Interchangeable Tooth Forms
Internal Involute Gears
Cycloidal Gears
Advantages of Involute Teeth
Methods of Gear Manufacture
Unequal Addendum Gears
Parallel Helical Gears
Crossed Helical Gears
Worm Gears
Bevel Gears
Hypoid Gears
Gear Trains, Translation Screws, Mechanical Advantage	284	(24)
Ordinary Gear Trains
Automotive Transmission
Epicyclic Gear Trains or Planetary Gears
Epicyclics with Two Inputs
Epicyclic Bevel Gear Trains
Bevel Gear Differential
Translation Screws
Mechanical Advantage
Synthesis of Mechanisms	308	(21)
Introduction
Design for Coupler Position
Force Transmission
Transmission Angle
Coupler-Point Curves
Four-Bar Function Generator by Overlay Method
Function Generator Crank-Angle Relationships
Freudenstein's Method
Rolling Curves
Analog Computing Mechanisms	329	(16)
Introduction
Addition and Subtraction
Multipliers
Trigonometric Functions
Inverter
Squares, Square Roots, and Square Roots of Products
Slot-Type Function Generator
Functions of Two Variables
Cams, Rolling Curves, and Four-Bar Linkages
Multiplication of Complex Functions
Integrator
Component Resolver
Component Integrator
Accuracy
Part 2 Dynamics of Machines
Static Forces in Machines	345	(12)
Introduction
Transmission of Forces in a Machine
Slider-Crank Mechanism
Four-Bar Linkage
Shaper Mechanism
Inertia Forces in Machines	357	(28)
Introduction
Equations of Motion
Inertia Force and Inertia Torque
Inertia Forces on a Four-Bar Linkage
Combined Static- and Inertia-Force Analysis
Determination of Center of Mass and Moments of Inertia
Dynamically Equivalent Systems
Center of Percussion
Flywheels	385	(8)
Introduction
Coefficient of Fluctuation
Mass of Flywheel for a Given Coefficient of Fluctuation in Speed
Flywheel for an Internal-Combustion Engine
Balancing Rotating Masses	393	(15)
Introduction
Single Rotating Mass
Several Rotating Masses in the Same Transverse Plane
Several Rotating Masses Lying in Several Transverse Planes
General Comments on Balancing
Balancing Machines
Balancing Reciprocating Masses	408	(27)
Introduction
Four-Bar Linkage
Slider-Crank Mechanism
Multicylinder In-Line Engines
Four-Cylinder In-Line Engine
Analysis by Rotating Vectors
V-Type and Opposed Engines
Discussion
Gyroscopic Effects	435	(9)
Introduction
Gyroscopic Forces
Critical Whirling Speeds and Torsional Vibrations of Shafts	444	(41)
Critical Whirling Speeds
Shaft with a Single Disk
Shaft with a Number of Disks
Critical Speed of a Uniform Shaft
Dunkerley's Equation
Shafts with Variable Diameter
Factors Affecting Critical Speeds
Torsional Vibrations
Torsional Vibration of a Shaft with Two Disks
Stepped Shafts
Geared System
Torsional Vibration of a Multiple-Mass System
Summary
Appendixes
A Proof of the Equivalent Four-Bar Linkage	471	(4)
B Computer Program for Positions, Velocities, and Accelerations in the Slider-Crank Mechanism	475	(4)
C Computer Program for Calculating the Cam Profile and the Locations of the Cutter to Produce the Profile	479	(6)
Index	485