Theory of machines and mechanisms

목차 (Table of Contents)

• CONTENTS
• Preface = xvii
• Part Ⅰ Kinematics and Mechanisms
• 1 The World of Mechanisms = 3
• 1-1 Introduction = 3
• 1-2 Analysis and Synthesis = 4
• 1-3 The Science of Mechanics = 4
• 1-4 Terminology, Definitions, and Assumptions = 6
• 1-5 Planar, Spherical, and Spatial Mechanisms = 11
• 1-6 Mobility = 13
• 1-7 Classification of Mechanisms = 17
• 1-8 Kinematic Inversion = 32
• 1-9 Grashof's Law = 33
• 1-10 Mechanical Advantage = 35
• Problems = 37
• 2 Position and Displacement = 39
• 2-1 Locus of a Moving Point = 39
• 2-2 Position of a Point = 42
• 2-3 Position Difference between Two Points = 43
• 2-4 Apparent Position of a Point = 45
• 2-5 Absolute Position of a Point = 46
• 2-6 The Loop-Closure Equation = 47
• 2-7 Graphical Position Analysis = 52
• 2-8 Algebraic Position Analysis = 59
• 2-9 Complex-Algebra Solutions of Planar Vector Equations = 63
• 2-10 Complex Polar Algebra = 65
• 2-11 Position Analysis Techniques = 68
• 2-12 The Chace Solutions to Planar Vector Equations = 72
• 2-13 Coupler-Curve Generation = 76
• 2-14 Displacement of a Moving Point = 78
• 2-15 Displacement Difference between Two Points = 79
• 2-16 Rotation and Translation = 81
• 2-17 Apparent Displacement = 81
• 2-18 Absolute Displacement = 83
• Problems = 84
• 3 Velocity = 89
• 3-1 Definition of Velocity = 89
• 3-2 Rotation of a Rigid Body = 90
• 3-3 Velocity Difference between Points of the Same Rigid Body = 93
• 3-4 Geometric Methods ; Velocity Polygons = 95
• 3-5 Apparent Velocity of a Point in a Moving Coordinate System = 103
• 3-6 Apparent Angular Velocity = 108
• 3-7 Direct Contact and Rolling Contact = 109
• 3-8 Complex-Algebra Methods = 111
• 3-9 Analytic Methods = 115
• 3-10 The Vector Method = 116
• 3-11 Instantaneous Center of Velocity = 118
• 3-12 The Aronhold-Kennedy Theorem of Three Centers = 120
• 3-13 Locating Instant Centers of Velocity = 122
• 3-14 Velocity Analysis Using Instant Centers = 125
• 3-15 The Angular-Velocity-Ratio Theorem = 129
• 3-16 Freudenstein's Theorem = 130
• 3-17 Indexes of Merit ; Mechanical Advantage = 132
• 3-18 Centrodes = 135
• Problems = 137
• 4 Acceleration = 149
• 4-1 Definition of Acceleration = 149
• 4-2 Angular Acceleration = 152
• 4-3 Acceleration Difference between Points of a Rigid Body = 152
• 4-4 Acceleration Polygons = 159
• 4-5 The Apparent Acceleration of a Point in a Moving Coordinate System = 163
• 4-6 Apparent Angular Acceleration = 171
• 4-7 Direct Contact and Rolling Contact = 172
• 4-8 Analytical Methods = 175
• 4-9 The Chace Solutions = 177
• 4-10 The Instant Center of Acceleration = 179
• 4-11 The Euler-Savory Equation = 181
• 4-12 The Bobillier Constructions = 186
• 4-13 The Cubic of Stationary Curvature = 190
• Problems = 192
• Part Ⅱ Design of Mechanisms
• 5 Cam Design = 201
• 5-1 Introduction = 201
• 5-2 Classification of Cams and Followers = 202
• 5-3 Displacement Diagrams = 205
• 5-4 Graphical Layout of Cam Profiles = 208
• 5-5 Derivatives of the Follower Motion = 212
• 5-6 High-Speed Cams = 216
• 5-7 Standard Cam Motions = 218
• 5-8 Matching Derivatives of Displacement Diagrams = 229
• 5-9 Plate Cam with Reciprocating Flat-Face Follower = 232
• 5-10 Plate Cam with Reciprocating Roller Follower = 237
• Problems = 248
• 6 Spur Gears = 250
• 6-1 Terminology and Definitions = 250
• 6-2 Fundamental Law of Toothed Gearing = 252
• 6-3 Involute Properties = 253
• 6-4 Interchangeable Gears ; AGMA Standards = 255
• 6-5 Fundamentals of Gear-Tooth Action = 256
• 6-6 The Forming of Gear Teeth = 260
• 6-7 Interference and Undercutting = 263
• 6-8 Contact Ratio = 266
• 6-9 Varying the Center Distance = 269
• 6-10 Involutometry = 271
• 6-11 Nonstandard Gear Teeth = 274
• Problems = 284
• 7 Helical Gears = 288
• 7-1 Parallel-Axis Helical Gears = 288
• 7-2 Helical-Gear-Tooth Relations = 289
• 7-3 Helical-Gear-Tooth-Proportions = 292
• 7-4 Contact of Helical-Gear Teeth = 293
• 7-5 Herringbone Gears = 294
• 7-6 Crossed-Axis Helical Gears = 294
• Problems = 296
• 8 Bevel Gears = 298
• 8-1 Straight-Tooth Bevel Gears = 298
• 8-2 Tooth Proportions for Bevel Gears = 303
• 8-3 Crown and Face Gears = 304
• 8-4 Spiral Bevel Gears = 305
• 8-5 Hypoid Gears = 307
• Problems = 307
• 9 Worm Gears = 308
• 9-1 Basics = 308
• Problems = 312
• 10 Mechanism Trains = 313
• 10-1 Parallel-Axis Gear Trains and Definitions = 313
• 10-2 Examples of Gear Trains = 315
• 10-3 Determining Tooth Numbers = 316
• 10-4 Epicyclic Gear Trains = 317
• 10-5 Bevel-Gear Epicyclic Trains = 320
• 10-6 Solution of Planetary Trains by Formula = 321
• 10-7 Tabular Analysis of Planetary Trains = 323
• 10-8 Differentials = 326
• 10-9 All-Wheel Drive Train = 331
• Problems = 332
• 11 Synthesis of Linkages = 338
• 11-1 Type, Number, and Dimensional Synthesis = 339
• 11-2 Function Generation, Path Generation, and Body Guidance = 339
• 11-3 Two-Position Synthesis of Slider-Crank Mechanisms = 340
• 11-4 Two-Position Synthesis of Crank-and-Rocker Mechanisms = 340
• 11-5 Crank-Rocker Mechanisms with Optimum Transmission Angle = 342
• 11-6 Three-Position Synthesis = 345
• 11-7 Four-Position Synthesis ; Point-Precision Reduction = 347
• 11-8 Precision Positions ; Structural Error ; Chebychev Spacing = 349
• 11-9 The Overlay Method = 351
• 11-10 Coupler-Curve Synthesis = 353
• 11-11 Cognate Linkages ; The Roberts-Chebychev Theorem = 358
• 11-12 Bloch's Method of Synthesis = 361
• 11-13 Freudenstein's Equation = 363
• 11-14 Analytical Synthesis Using Complex Algebra = 367
• 11-15 Synthesis of Dwell Mechanisms = 371
• 11-16 Intermittent Rotary Motion = 373
• Problems = 376
• 12 Spatial Mechanisms = 380
• 12-1 Introduction = 380
• 12-2 Exceptions in the Mobility of Mechanisms = 383
• 12-3 The Position-Analysis Problem = 387
• 12-4 Velocity and Acceleration Analysis = 392
• 12-5 The Eulerian Angles = 399
• 12-6 The Denavit-Hartenberg Parameters = 403
• 12-7 Transformation-Matrix Position Analysis = 405
• 12-8 Matrix Velocity and Acceleration Analysis = 408
• 12-9 Generalized Mechanism-Analysis Computer Programs = 413
• Problems = 416
• 13 Robotics = 421
• 13-1 Introduction = 421
• 13-2 Topological Arrangements of Robotic Arms = 422
• 13-3 Forward Kinematics = 425
• 13-4 Inverse Position Analysis = 428
• 13-5 Inverse Velocity and Acceleration Analysis = 432
• 13-6 Robot-Actuator Force Analysis = 436
• Problems = 438
• Part Ⅲ Dynamics of Machines
• 14 Static Force Analysis = 443
• 14-1 Introduction = 443
• 14-2 Newton's Laws = 445
• 14-3 Systems of Units = 446
• 14-4 Applied and Constraint Forces = 448
• 14-5 Free-Body Diagrams = 451
• 14-6 Conditions for Equilibrium = 453
• 14-7 Two- and Three-Force Members = 454
• 14-8 Four-Force Members = 459
• 14-9 Friction-Force Models = 462
• 14-10 Static Force Analysis with Friction = 465
• 14-11 Spur- and Helical-Gear Force Analysis = 467
• 14-12 Straight-Bevel-Gear Force Analysis = 473
• 14-13 The Method of Virtual Work = 476
• Problems = 480
• 15 Dynamic Force Analysis(Planar) = 490
• 15-1 Introduction = 490
• 15-2 Centroid and Center of Mass = 491
• 15-3 Mass Moments and Products of Inertia = 495
• 15-4 Inertia Forces and D'Alembert's Principle = 499
• 15-5 The Principle of Superposition = 506
• 15-6 Planar Rotation about a Fixed Center = 511
• 15-7 Shaking Forces and Moments = 514
• Problems = 515
• 16 Dynamic Force Analysis(Spatial) = 522
• 16-1 Introduction = 522
• 16-2 Measuring Mass Moment of Inertia = 523
• 16-3 Transformation of Inertia Axes = 526
• 16-4 Euler's Equations of Motion = 531
• 16-5 Impulse and Momentum = 535
• 16-6 Angular Impulse and Angular Momentum = 536
• Problems = 542
• 17 Vibration Analysis = 548
• 17-1 Differential Equations of Motion = 548
• 17-2 A Vertical Model = 552
• 17-3 Solution of the Differential Equation = 553
• 17-4 Step-Input Forcing = 557
• 17-5 Phase-Plane Representation = 560
• 17-6 Phase-Plane Analysis = 563
• 17-7 Transient Disturbances = 566
• 17-8 Free Vibration with Viscous Damping = 571
• 17-9 Damping Obtained by Experiment = 573
• 17-10 Phase-Plane Representation of Damped Vibration = 575
• 17-11 Response to Periodic Forcing = 580
• 17-12 Harmonic Forcing = 583
• 17-13 Forcing Caused by Unbalance = 589
• 17-14 Relative Motion = 590
• 17-15 Isolation = 590
• 17-16 Rayleigh's Method = 594
• 17-17 Torsional Systems = 597
• Problems = 599
• 18 Dynamics of Reciprocating Engines = 605
• 18-1 Engine Types = 605
• 18-2 Indicator Diagrams = 610
• 18-3 Dynamic Analysis - General = 616
• 18-4 Gas Forces = 616
• 18-5 Equivalent Masses = 619
• 18-6 Inertia Forces = 621
• 18-7 Bearing Loads in the Single-Cylinder Engine = 623
• 18-8 Crankshaft Torque = 627
• 18-9 Engine Shaking Forces = 628
• 18-10 Computation Hints = 629
• Problems = 631
• 19 Balancing = 633
• 19-1 Static Unbalance = 633
• 19-2 Equations of Motion = 634
• 19-3 Static Balancing Machines = 637
• 19-4 Dynamic Unbalance = 639
• 19-5 Analysis of Unbalance = 640
• 19-6 Dynamic Balancing = 645
• 19-7 Balancing Machines = 648
• 19-8 Field Balancing with a Programmable Calculator = 652
• 19-9 Balancing a Single-Cylinder Engine = 655
• 19-10 Balancing Multicylinder Engines = 660
• 19-11 Balancing Linkages = 664
• 19-12 Balancing of Machines = 670
• Problems = 671
• 20 Cam Dynamics = 675
• 20-1 Rigid- and Elastic-Body Cam Systems = 675
• 20-2 Analysis of an Eccentric Cam = 676
• 20-3 Effect of Sliding Friction = 680
• 20-4 Analysis of a Disk Cam with Reciprocating Roller Follower = 681
• 20-5 Analysis of Elastic Cam Systems = 683
• 20-6 Unbalance, Spring Surge, and Windup = 686
• Problems = 688
• Appendix
• Table 1 Standard SI Prefixes = 691
• Table 2 Conversion from US Customary Units to SI Units = 692
• Table 3 Conversion from SI Units to US Customary Units = 692
• Table 4 Properties of Areas = 693
• Table 5 Mass Moments of Inertia = 694
• Table 6 Involute Function = 695
• Answers to Selected Problems = 699
• Index = 707