Kinematics, Dynamics, and Design of Machinery

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® programs INDICE: 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

• ISBN: 978-1-118-93328-2
• Editorial: Wiley–Blackwell
• Encuadernacion: Rústica
• Páginas: 728
• Fecha Publicación: 13/05/2016
• Nº Volúmenes: 1
• Idioma: Inglés