Kinematics, Dynamics, and Design of Machinery (3rd Revised edition)

Kinematics, Dynamics, and Design of Machinery (3rd Revised edition)

By: Gary L. Kinzel (author), Sunil K. Agrawal (author), Kenneth J. Waldron (author)Hardback

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Kinematics, Dynamics, and Design of Machinery, Third Edition, presents a fresh approach to kinematic design and analysis and is an ideal textbook for senior undergraduates and graduates in mechanical, automotive and production engineering * Presents the traditional approach to the design and analysis of kinematic problems and shows how GCP can be used to solve the same problems more simply * Provides a new and simpler approach to cam design * Includes an increased number of exercise problems * Accompanied by a website hosting a solutions manual, teaching slides and MATLAB(R) programs

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PREFACE 1 INTRODUCTION 1.1 Historic Perspective 1.2 Kinematics 1.3 Design: Analysis and Synthesis 1.4 Mechanisms 1.5 Planar Linkages 1.6 Visualization 1.7 Constraint Analysis 1.8 Constraint Analysis of Spatial Linkages 1.9 Idle Degrees of Freedom 1.10 Overconstrained Linkages 1.11 Uses of the Mobility Criterion 1.12 Kinematic Inversion 1.13 Reference Frames 1.14 Motion Limits 1.15 Slider-Crank Linkages 1.16 Coupler-Driven Linkages 1.17 Motion Limits for Slider-Crank Mechanisms 1.18 Interference 1.19 Practical Design Considerations 1.19.1 Revolute Joints 1.19.2 Prismatic Joints 1.19.3 Higher Pairs 1.19.4 Cams versus Linkages References Problems 2 TECHNIQUES IN GRAPHICAL CONSTRAINT PROGRAMMING 2.1 Introduction 2.2 Geometric Constraint Programming 2.3 Constraints and Program Structure 2.3.1 Required Constraints 2.3.2 Other Constraint Options 2.3.3 Annotations 2.3.4 Use of Drawing Layers 2.3.5 Limitations of GCP 2.4 Initial Setup for a GCP Session 2.4.1 The Effect of Typical Constraints 2.4.2 Unintended Constraints 2.4.3 Layers, Line Type, and Line Color 2.5 Drawing a Basic Linkage Using GCP 2.5.1 Drawing a Four-Bar Linkage Using GCP 2.5.2 Including Ground Pivots and Bushings 2.5.3 Drawing a Slider-Crank Linkage 2.6 Troubleshooting Graphical Programs Developed Using GCP References Problems 3 PLANAR LINKAGE DESIGN 3.1 Introduction 3.2 Two-Position Double Rocker Design 3.2.1 Graphical Solution Procedure 3.2.2 Solution Using Graphical Constraint Programming 3.2.3 Numerical Solution Procedure 3.3 Synthesis of Crank-Rocker Linkages for Specified-Rocker Amplitude 3.3.1 The Rocker Amplitude Problem: Graphical Approach 3.3.2 Alternative Graphical Design Procedure Based on Specification of A*B* 3.3.3 Use of GCP To Design Crank-Rocker and Crank-Shaper Mechanisms 3.4 Motion Generation 3.4.1 Introduction 3.4.2 Two Positions 3.4.3 Three Positions with Selected Moving Pivots 3.4.4 Synthesis of a Crank with Chosen Fixed Pivots 3.4.5 Design of Slider Cranks and Elliptic Trammel 3.4.6 Order Problem and Change of Branch 3.4.7 Using GCP for Rigid-Body Guidance 3.5 Path Synthesis 3.5.1 Design of Six-Bar Linkages Using Coupler Curves 3.5.2 Motion Generation for Parallel Motion Using Coupler Curve 3.5.3 Cognate Linkages 3.5.4 Using GCP for Path Synthesis References Problems 4 GRAPHICAL POSITION, VELOCITY AND ACCELERATION ANALYSIS FOR MECHANISMS WITH REVOLUTE JOINTS AND FIXED SLIDES 4.1 Introduction 4.2 Graphical Position Analysis 4.3 Planar Velocity Polygons 4.4 Graphical Acceleration Analysis 4.5 Graphical Analysis of a Four-Bar Mechanism 4.6 Graphical Analysis of a Slider-Crank Mechanism 4.7 The Velocity Image Theorem 4.8 The Acceleration Image 4.9 Solution by Graphical Constraint Programming 4.9.1 Introduction 4.9.2 Scaling Properties of Velocity Polygons 4.9.3 Using GCP To Analyze Linkages That Cannot Be Analyzed by Classical Means References Problems 5 LINKAGES WITH ROLLING AND SLIDING CONTACTS, AND JOINTS ON MOVING SLIDERS 5.1 Introduction 5.2 Reference Frames 5.3 General Velocity and Acceleration Equations 5.3.1 Velocity Equations 5.3.2 Acceleration Equations 5.3.3 Chain Rule for Positions, Velocities, and Accelerations 5.4 Special Cases for the Velocity and Acceleration Equations 5.4.1 Two Points Fixed in a Moving Body 5.4.2 Two Points Are Instantaneously Coincident 5.4.3 Two Are Instantaneously Coincident and In Rolling Contact 5.5 Linkages with Rotating Sliding Joints 5.6 Rolling Contact 5.6.1 Basic Kinematic Relationships for Rolling Contact 5.6.2 Modeling Rolling contact using a Virtual Linkage 5.7 Cam Contact 5.7.1 Direct Approach to the Analysis of Cam Contact 5.7.2 Analysis of Cam Contact Using Equivalent Linkages 5.8 General Coincident Points 5.8.1 Velocity Analyses Involving General Coincident Points 5.8.2 Acceleration Analyses Involving General Coincident Points 5.9 Solution by Graphical Constraint Programming Problems 6 INSTANT CENTERS OF VELOCITY 6.1 Introduction 6.2 Definition 6.3 Existence Proof 6.4 Location of an Instant Center from the Directions of Two Velocities 6.5 Instant center at a Revolute Joint 6.6 Instant Center of a Curved Slider 6.7 Instant Center of a Prismatic Joint 6.8 Instant Center of a Rolling Contact Pair 6.9 Instant Center of a General Cam-Pair Contact 6.10 Centrodes 6.11 The Kennedy-Aronholdt Theorem 6.12 Circle Diagram as a Strategy for Finding Instant Centers 6.13 Using Instant Centers, the Rotating Radius Method 6.14 Finding Instant Centers Using GCP References Problems 7 COMPUTATIONAL ANALYSIS OF LINKAGES 7.1 Introduction 7.2 Position, Velocity, and Acceleration Presentations 7.2.1 Position Representation 7.2.2 Velocity Representation 7.2.3 Acceleration Representation 7.2.4 Special Cases 7.2.5 Mechanisms To Be Considered 7.3 Analytical Closure Equations for Four-Bar Linkages 7.3.1 Solution of Closure Equation for Four-Bar Linkages when Link 2 Is the Driver 7.3.2 Analysis When the Coupler (Link 3) Is the Driving Link 7.3.3 Velocity Equations for Four-Bar Linkages 7.3.4 Acceleration Equations for Four-Bar Linkages 7.4 Analytical Equations for a Rigid Body after the Kinematic Properties of Two Points Are Known 7.5 Analytical Equations for Slider-Crank Mechanisms 7.5.1 Solution to Position Equations When Is Input 7.5.2 Solution to Position Equations When r Is Input 7.5.3 Solution to Position Equations When Is Input 7.5.4 Velocity Equations for Slider-Crank Mechanism 7.5.5 Acceleration Equations for Slider-Crank Mechanism 7.6 Other 4-Bar Mechanisms with Revolute and Prismatic Joints 7.6.1 Slider-Crank Inversion 7.6.2 A RPRP Mechanism 7.6.3 A RRPP Mechanism 7.6.4 Elliptic Trammel 7.6.5 Oldham Mechanism 7.7 Closure or Loop Equation Approach for Compound Mechanisms 7.7.1 Handling Points Not on the Vector Loops 7.7.2 Solving the Position Equations 7.8 Closure Equations for Mechanisms with Higher Pairs 7.9 Notational Differences: Vectors and Complex Numbers Problems 8 SPECIAL MECHANISMS 8.1 Special Planar Mechanisms 8.1.1 Introduction 8.1.2 Straight Line and Circle Mechanisms 8.1.3 Pantographs 8.2 Spherical Mechanisms 8.2.1 Introduction 8.2.2 Gimbals 8.2.3 Universal Joints 8.3 Constant Velocity Couplings 8.3.1 Geometric Requirements of Constant Velocity Couplings 8.3.2 Practical Constant Velocity Couplings 8.4 Automotive Steering and Suspension Mechanisms 8.4.1 Introduction 8.4.2 Steering Mechanisms 8.4.3 Suspension Mechanisms 8.5 Indexing Mechanisms 8.5.1 Geneva Mechanisms References Problems 9 SPATIAL LINKAGE ANALYSIS 9.1 Spatial Mechanisms 9.1.1 Introduction 497 9.1.2 Velocity and Acceleration Relationships 9.2 Robotic Mechanisms 9.3 Direct Position Kinematics of Serial Chains 9.3.1 Introduction 9.3.2 Concatenation of Transformations 9.3.3 Homogeneous Transformations 9.4 Inverse Position Kinematics 9.5 Rate Kinematics 9.5.1 Introduction 9.5.2 Direct Rate Kinematics 9.5.3 Inverse Velocity Problem 9.6 Closed Loop Linkages 9.7 Lower Pair Joints 9.8 Motion Platforms 9.8.1 Mechanisms Actuated in Parallel 9.8.2 The Stewart-Gough Platform 9.8.3 The 3-2-1 Platform References Problems 10 PROFILE CAM DESIGN 10.1 Introduction 10.2 Cam-Follower Systems40 10.3 Synthesis of Motion Programs 10.4 Analysis of Different Types of Follower Displacement Functions 10.4.1 Uniform Motion 10.4.2 Parabolic Motion 10.4.3 Harmonic Follower-Displacement Programs 10.4.4 Cycloidal Follower-Displacement Programs 10.4.5 General Polynomial Follower-Displacement Programs 10.5 Determining the Cam Profile 10.5.1 Graphical Cam Profile Layout 10.5.2 Analytical Determination of Cam Profile References Problems 11 SPUR GEARS 11.1 Introduction 11.2 Spur Gears 11.3 Condition for Constant-Velocity Ratio 11.4 Involutes 11.5 Gear Terminology and Standards 11.5.1 Terminology 11.5.2 Standards 11.6 Contact Ratio 11.7 Involutometry 11.8 Internal Gears 11.9 Gear Manufacturing 11.10 Interference and Undercutting 11.11 Nonstandard Gearing 11.12 Cartesian Coordinates of an Involute Tooth Generated with a Rack 11.12.1 Coordinate Systems 11.12.2 Gear Equations References Problems 12 HELICAL, BEVEL, AND WORM GEARS 12.1 Helical Gears 12.1.1 Helical Gear Terminology 12.1.2 Helical Gear Manufacturing 12.1.3 Minimum Tooth Number to Avoid Undercutting 12.1.4 Helical Gears with Parallel Shafts 12.1.5 Crossed Helical Gears 12.2 Worm Gears 12.2.1 Worm Gear Nomenclature 12.3 Involute Bevel Gears 12.3.1 Tredgold s Approximation for Bevel Gears 12.3.2 Additional Nomenclature for Bevel Gears 12.3.3 Crown Bevel Gears and Face Gears 12.3.4 Miter Gear 12.3.5 Angular Bevel Gears 12.3.6 Zerol Bevel Gears 12.3.7 Spiral Bevel Gears 12.3.8 Hypoid Gears References Problems 13 GEAR TRAINS 13.1 Gear Trains 13.2 Direction of Rotation 13.3 Simple Gear Trains 13.2.1 Simple Reversing Mechanism 13.4 Compound Gear Trains 13.4.1 Concentric Gear Trains 13.5 Planetary Gear Trains 13.5.1 Planetary Gear Nomenclature 13.5.2 Analysis of Planetary Gear Trains Using Equations 13.5.3 Analysis of Planetary Gear Trains Using Tabular Method 13.6 Harmonic Speed Reducers References Problems 14 STATIC FORCE ANALYSIS OF MECHANISMS 14.1 Introduction 14.2 Forces, Moments, and Couples 14.3 Static Equilibrium 14.4 Free-Body Diagrams 14.5 Solution of Static Equilibrium Problems 14.6 Transmission Angle in a Four-Bar Linkage 14.7 Friction Considerations 14.7.1 Friction in Cam Contact 14.7.2 Friction in Slider Joints 14.7.3 Friction in Revolute Joints 14.8 In-Plane and Out-of-Plane Force Systems 14.9 Conservation of Energy and Power 14.10 Virtual Work 14.11 Gear Loads 14.11.1 Spur Gears 14.11.2 Helical Gears 14.11.3 Worm Gears 14.11.4 Straight Bevel Gears Problems 15 DYNAMIC FORCE ANALYSIS 15.1 Introduction 15.2 Particle Kinetics 15.2.1 Dynamic Equilibrium of Systems of Particles 15.2.2 Conservation of Energy 15.2.3 Conservation of Momentum 15.3 Dynamic Equilibrium of Systems of Rigid Bodies 15.4 Flywheels Problems 16 STATIC AND DYNAMIC BALANCING 16.1 Introduction 16.2 Single Plane (Static) Balancing 16.3 Multi-plane (Dynamic) Balancing 16.4 Balancing Reciprocating Masses 16.4.1 Expression for Lumped Mass Distribution 16.4.2 Balancing a Slider-Crank Mechanism 16.5 Expressions for Inertial Forces 16.6 Balancing Multi-Cylinder Machines 16.6.1 Balancing a Three-Cylinder In-Line Engine 16.6.2 Balancing an Eight Cylinder V Engine 16.7 Static Balancing of Mechanisms 16.7.1 Gravity Balancing of Planar Mechanisms: Examples 16.7.2 Gravity Balancing Orthosis (GBO) 16.8 Reactionless Mechanisms References Problems 17 INTEGRATION OF DIGITALLY CONTROLLED ACTUATORS 17.1 Introduction 17.2 Computer Control of Linkage Motion 17.3 The Basics of Feedback Control 17.4 Actuator Selection and Types 17.4.1 Electrical Actuation 17.4.2 Hydraulic Actuation 17.4.3 Pneumatic Actuation 17.5 Hands-on Design Laboratory 17.5.1 Examples of Class Projects References Problems INDEX

Product Details

  • publication date: 10/06/2016
  • ISBN13: 9781118933282
  • Format: Hardback
  • Number Of Pages: 720
  • ID: 9781118933282
  • weight: 1698
  • ISBN10: 1118933281
  • edition: 3rd Revised edition

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