CONTENTS
Cover
Title page
Preface
1 Introduction to Mechanisms
1.1 Introduction
1.2 Kinematic Diagrams
1.3 Degrees of Freedom or Mobility
1.4 Grashof’s Equation
1.5 Transmission Angle
1.6 Geneva Mechanism
Problems
Reference
2 Position Analysis of Planar Linkages
2.1 Introduction
2.2 Graphical Position Analysis
2.3 Vector Loop Position Analysis
Problems
Programming Exercises
3 Graphical Design of Planar Linkages
3.1 Introduction
3.2 Two-Position Synthesis for a Four-Bar Linkage
3.3 Two-Position Synthesis for a Quick Return 4-Bar Linkage
3.4 Two-Positions for Coupler Link
3.5 Three Positions of the Coupler Link
3.6 Coupler Point Goes Through Three Points
3.7 Coupler Point Goes Through Three Points with Fixed Pivots and Timing
3.8 Two-Position Synthesis of Slider-Crank Mechanism
3.9 Designing a Crank-shaper Mechanism
Problems
4 Analytical Linkage Synthesis
4.1 Introduction
4.2 Chebyshev Spacing
4.3 Function Generation Using a 4-Bar Linkage
4.4 Three-Point Matching Method for 4-Bar Linkage
4.5 Design a 4-Bar Linkage for Body Guidance
4.6 Function Generation for Slider-Crank Mechanisms
4.7 Three-Point Matching Method for Slider-Crank Mechanism
Problems
Further Reading
5 Velocity Analysis
5.1 Introduction
5.2 Relative Velocity Method
5.3 Instant Center Method
5.4 Vector Method
Problems
Programming Exercises
6 Acceleration
6.1 Introduction
6.2 Relative Acceleration
6.3 Slider–Crank Mechanism with Horizontal Motion
6.4 Acceleration of Mass Centers for Slider–Crank Mechanism
6.5 Four-bar Linkage
6.6 Acceleration of Mass Centers for 4-bar Linkage
6.7 Coriolis Acceleration
Problems
Programming Exercises
7 Static Force Analysis
7.1 Introduction
7.2 Forces, Moments, and Free Body Diagrams
7.3 Multiforce Members
7.4 Moment Calculations Simplified
Problems
Programming Exercises
8 Dynamic Force Analysis
8.1 Introduction
8.2 Link Rotating about Fixed Pivot Dynamic Force Analysis
8.3 Double-Slider Mechanism Dynamic Force Analysis
Problems
9 Spur Gears
9.1 Introduction
9.2 Other Types of Gears
9.3 Fundamental Law of Gearing
9.4 Nomenclature
9.5 Tooth System
9.6 Meshing Gears
9.7 Noninterference of Gear Teeth
9.8 Gear Racks
9.9 Gear Trains
9.10 Planetary Gear Systems
Problems
10 Planar Cams and Cam Followers
10.1 Introduction
10.2 Follower Displacement Diagrams
10.3 Harmonic Motion
10.4 Cycloidal Motion
10.5 5-4-3 Polynomial Motion
10.6 Fifth-Order Polynomial Motion
10.7 Cam with In-Line Translating Knife-Edge Follower
10.8 Cam with In-Line Translating Roller Follower
10.9 Cam with Offset Translating Roller Follower
10.10 Cam with Translating Flat-Face Follower
Problems
Appendix A: Engineering Equation Solver
Starting EES
Formatted Equations Window
Some Common Built-in Functions
Single-line If-Then-Else Statements
Multiple-line If-Then-Else Statements
Appendix B: MATLAB
Top of form
Starting MATLAB
Some Common MATLAB Programming Commands or Symbols
Some Common MATLAB Functions
Some Common MATLAB 2-D Graphing Procedures
Optimization Toolkit for MATLAB
Further Reading
Index
End User License Agreement
List of Tables
Chapter 09
Table 9.1 Standard tooth sizes
Table 9.2 Standard tooth system for spur gears
Table 9.3 Preferred number of teeth on spur gears
Table 9.4 Minimum pinion size without interference or undercutting
Table 9.5 Minimum pinion size for a gear rack
Table 9.6 Maximum gear size without interference or undercutting
List of Illustrations
bappA
A.1 EES toolbar
A.2 Help index
A.3 EES start-up screen
A.4 Preference window
A.5 Equations and Solve window
A.6 Variable Information
A.7 Equations and solve again
A.8 Print window
A.9 4-bar linkage
A.10 Equations for table solution
A.11 New Parametric Table window
A.12 Fill table for independent variable
A.13 Variable Information window
A.14 Table solution
A.15 New Plot window
A.16 Plot window
A.17 Equations window
A.18 Formatted Equations window
bappB
B.1 MATLAB windows and tabs
B.2 Range of atan2
B.3 Range of atan2d
B.4 4-bar linkage with vectors
Chapter 01
Figure 1.1 4-Bar linkages
Figure 1.2 Kinematic diagram
Figure 1.3 Physical system
Figure 1.4 Planar links and joints
Figure 1.5 Two joints where three links join
Figure 1.6 Half joints
Figure 1.7 Mechanisms with four links
Figure 1.8 Five-bar linkage
Figure 1.9 6-Bar linkage (2 configurations)
Figure 1.10 Double-crank and double-rocker
Figure 1.11 Transmission angle
Figure 1.12 Transmission angle extremes
Figure 1.13 Geneva mechanism
Figure 1.14 Motion of Geneva mechanism
Figure 1.15 Geneva wheel design
Figure 1.16 Problem 1
Figure 1.17 Problem 2
Figure 1.18 Problem 3
Figure 1.19 Problem 4
Figure 1.20 Problem 7
Figure 1.21 Problem 8
Chapter 02
Figure 2.1 4-Bar linkage sketch
Figure 2.2 Graphical solution of 4-bar
Figure 2.3 Slider-crank sketch
Figure 2.4 Slider-crank graphical position
Figure 2.5 2D vector
Figure 2.6 4-Bar vector loop
Figure 2.7 EES analysis
Figure 2.8 4-Bar linkage in crossed orientation
Figure 2.9 EES analysis (crossed 4-bar)
Figure 2.10 Uncrossed 4-bar vector loop with Lbc
Figure 2.11 MATLAB analysis
Figure 2.12 Crossed 4-bar
Figure 2.13 MATLAB analysis 2
Figure 2.14 Solution using “fsolve” function
Figure 2.15 4-Bar vector loop
Figure 2.16 Crossed 4-bar linkage
Figure 2.17 Coupler point analysis
Figure 2.18 Slider-crank vector loop
Figure 2.19 EES analysis
Figure 2.20 Slider-crank linkage in crossed orientation
Figure 2.21 EES analysis (crossed 4-bar)
Figure 2.22 Slider-crank vector loop
Figure 2.23 MATLAB analysis
Figure 2.24 Crossed 4-bar
Figure 2.25 MATLAB analysis 2
Figure 2.26 4-Bar vector loop
Figure 2.27 Rotated slider-crank linkage
Figure 2.28 Coupler point analysis
Figure 2.29 6-Bar linkage with vectors
Figure 2.30 Watt 6-bar linkage
Figure 2.31 EES solution to 6-bar position analysis
Figure 2.32 Problems 2.1 through 2.8
Figure 2.33 Problems 2.9 and 2.10
Figure 2.34 Problems 2.11 through 2.13
Figure 2.35 Problems 2.14 through 2.18
Figure 2.36 Problems 2.19 through 2.21
Figure 2.37 Problems 2.22 through 2.24
Figure 2.38 Problems 2.25 and 2.26
Figure 2.39 Problems 2.27 and 2.28
Figure 2.40 Problems 2.29 and 2.30
Figure 2.41 Problems 2.31 through 2.33
Figure 2.42 Problems 2.34 through 2.37
Figure 2.43 Problems 2.38 and 2.39
Figure 2.44 Problems 2.40 through 2.42
Figure 2.45 Problems 2.43 and 2.44
Figure 2.46 Problems 2.45 and 2.46
Figure 2.47 Problems 2.47 and 2.48
Figure 2.48 Problems 2.49 and 2.50
Figure 2.49 Problems 2.51 and 2.52
Figure 2.50 Problems 2.53 and 2.54
Figure 2.51 Problems 2.55 and 2.56
Figure 2.52 Problems 2.57 and 2.58
Figure 2.53 Problems 2.59 and 2.60
Figure 2.54 Programming Exercise P2.1
Figure 2.55 Programming Exercise P2.2
Figure 2.56 Programming Exercise P2.3
Figure 2.57 Programming Exercise P2.4
Figure 2.58 Programming Exercise P2.5
Chapter 03
Figure 3.1 Extreme positions of 4-bar. (a) Links 2 and 3 extended and (b) links 2 and 3 overlap
Figure 3.2 Graphical 2-angular positions
Figure 3.3 Quick-return 4-bar
Figure 3.4 Construct second line
Figure 3.5 Quick-return 2-angular positions
Figure 3.6 Output link in two positions
Figure 3.7 Locate bearing
B
o
Figure 3.8 Coupler link in three positions
Figure 3.9 Three positions for coupler link
Figure 3.10 4-Bar designed
Figure 3.11 Three coupler points
Figure 3.12 Three points and bearing
A
o
Figure 3.13 Two possible initial designs
Figure 3.14 Adding the coupler link
Figure 3.15 Final layout of linkage
Figure 3.16 Acceptable design through three points
Figure 3.17 Three points and fixed pivots
Figure 3.18 Locate end of crank link,
C
1
Figure 3.19 Crank in its three required positions
Figure 3.20 Inline slider-crank mechanism
Figure 3.21 Offset slider-crank mechanism
Figure 3.22 Offset slider-crank design
Figure 3.23 Crank-shaper machine
Figure 3.24 Kinematic diagram for crank-shaper
Figure 3.25 Crank-shaper lengths
Figure 3.26 Designed crank-shaper mechanism
Figure 3.27 Problem 3.7
Figure 3.28 Problem 3.8
Figure 3.29 Problem 3.9
Figure 3.30 Problem 3.10
Figure 3.31 Problem 3.11
Figure 3.32 Problem 3.12
Figure 3.33 Problem 3.13
Figure 3.34 Problem 3.14
Figure 3.35 Problems 3.19 and 3.23 concept
Figure 3.36 Crank-shaper lengths
Chapter 04
Figure 4.1 Chebyshev spacing for four points
Figure 4.2 Chebyshev spacing for three points
Figure 4.3 Four-bar linkage and vector loop
Figure 4.4 Relationship among angles
Figure 4.5 Designed 4-bar linkage
Figure 4.6 Plot of 4-bar design
Figure 4.7 Locate bearing
A
o
Figure 4.8 Sealing a large 8-foot door
Figure 4.9 Checking the door sealing design
Figure 4.10 Slider-crank function generator
Figure 4.11 Slider-crank mechanism and its vector loop
Figure 4.12 Initial layout of slider-crank mechanism
Figure 4.13 Slider-crank function generator check
Figure 4.14 Slider-crank function generator
Figure 4.15 Ackerman steering linkage
Figure 4.16 Problem 4.13
Chapter 05
Figure 5.1 Rotation about an axis
Figure 5.2 Slider–slider linkage
Figure 5.3 Graphical solution
Figure 5.4 Four-bar linkage
Figure 5.5 Graphical solution
Figure 5.6 Velocity solution for coupler point
Figure 5.7 Slider–crank mechanism
Figure 5.8 Graphical solution
Figure 5.9 Four-bar linkage
Figure 5.10 Slider–slider linkage
Figure 5.11 Sliding motion
Figure 5.12 Four-bar instant centers
Figure 5.13 Slider–crank instant centers
Figure 5.14 Six-bar linkage
Figure 5.15 Obvious instant centers and helper circle
Figure 5.16 Additional instant centers and helper circle
Figure 5.17 All instant center for this 6-bar linkage
Figure 5.18 Relative velocity
Figure 5.19 Four-bar linkage and velocity of IC
23
Figure 5.20 Four-bar linkage and velocity of IC
24
Figure 5.21 Four-bar linkage and velocity of IC
34
Figure 5.22 Determining angular velocities using instant centers
Figure 5.23 Slider–crank mechanism and velocity of link 4
Figure 5.24 Slider–crank velocities
Figure 5.25 Slider–crank velocities
Figure 5.26 Four-bar linkage with vectors
Figure 5.27 Determining angular velocities using vector method
Figure 5.28 Slider–crank velocities
Figure 5.29 Slider–crank mechanism velocities
Figure 5.30 Inverted slider–crank
Figure 5.31 Problems 5.1 and 5.2
Figure 5.32 Problems 5.3 and 5.4
Figure 5.33 Problems 5.5 and 5.6
Figure 5.34 Problems 5.7 and 5.8
Figure 5.35 Problems 5.9 and 5.10
Figure 5.36 Problems 5.11 and 5.12
Figure 5.37 Problems 5.13 and 5.14
Figure 5.38 Problems 5.15 and 5.16
Figure 5.39 Problems 5.17 and 5.18
Figure 5.40 Problems 5.19 and 5.20
Figure 5.41 Programming exercise P5.1
Figure 5.42 Programming exercise P5.2
Figure 5.43 Programming exercise P5.3
Figure 5.44 Programming exercise P5.4
Figure 5.45 Programming exercise P5.5
Figure 5.46 Programming exercise P5.6
Chapter 06
Figure 6.1 Rotating vector
Figure 6.2 Relative vectors
Figure 6.3 Slider–crank mechanism with horizontal motion
Figure 6.4 Slider–crank acceleration analysis
Figure 6.5 Mass centers for slider–crank
Figure 6.6 Four-bar linkage
Figure 6.7 Four-bar linkage acceleration analysis
Figure 6.8 Mass centers for 4-bar linkage
Figure 6.9 Inverted slider–crank
Figure 6.10 Inverted slider–crank acceleration analysis
Figure 6.11 Problems 6.1 and 6.2
Figure 6.12 Problems 6.3 and 6.4
Figure 6.13 Problem 6.5
Figure 6.14 Problems 6.6 and 6.7
Figure 6.15 Problems 6.8 through 6.10
Figure 6.16 Problems 6.11 and 6.12
Figure 6.17 Problems 6.13 and 6.14
Figure 6.18 Problem 6.15
Figure 6.19 Problems 6.16 and 6.17
Figure 6.20 Programming exercise P6.1
Figure 6.21 Programming exercise 2
Figure 6.22 Programming exercise P6.3
Figure 6.23 Programming exercise P6.4
Figure 6.24 Programming exercise P6.5
Figure 6.25 Programming exercise P6.6
Chapter 07
Figure 7.1 Four-bar linkage
Figure 7.2 FBD of each moving link
Figure 7.3 Two-force member
Figure 7.4 FBD of link 2
Figure 7.5 FBD of link 4
Figure 7.6 Four-bar linkage
Figure 7.7 Equations entered into EES
Figure 7.8 Static force solution from EES
Figure 7.9 Multiforce members
Figure 7.10 Slider–crank mechanism
Figure 7.11 FBD of link 2
Figure 7.12 Original FBD of link 3
Figure 7.13 FBD of link 3 in 1st quadrant
Figure 7.14 FBD of slider, link 4
Figure 7.15 Slider–crank mechanism
Figure 7.16 MATLAB code
Figure 7.17 MATLAB answers
Figure 7.18 General link and force orientation
Figure 7.19 Problem 7.1
Figure 7.20 Problem 7.2
Figure 7.21 Problem 7.3
Figure 7.22 Problem 7.4
Figure 7.23 Problem 7.5
Figure 7.24 Problem 7.6
Figure 7.25 Programming exercise P7.1
Figure 7.26 Programming exercise P7.2
Figure 7.27 Programming exercise P7.3
Figure 7.28 Programming exercise P7.4
Chapter 08
Figure 8.1 Rotating link about fixed pivot
Figure 8.2 FBD and KD of link 2
Figure 8.3 Double-slider mechanism
Figure 8.4 FBD of double slider
Figure 8.5 Kinetic diagram of double slider
Figure 8.6 Problems 8.1 and 8.2
Figure 8.7 Problem 8.3
Figure 8.8 Problem 8.4
Figure 8.9 Problem 8.5
Figure 8.10 Problem 8.6
Chapter 09
Figure 9.1 Gears and rolling cylinders
Figure 9.2 External meshing spur gears
Figure 9.3 Other types of gears
Figure 9.4 Line of action
Figure 9.5 Involute curve generation
Figure 9.6 Tooth profile
Figure 9.7 Internally meshing spur gears
Figure 9.8 Diametric pitches and module sizes
Figure 9.9 Check for interference
Figure 9.10 Gear rack and pinion
Figure 9.11 External and internal meshing
Figure 9.12 Externally meshing spur gears
Figure 9.13 Compound gear train
Figure 9.14 Inverted compound gear train
Figure 9.15 Gear as solid disk
Figure 9.16 Standard planetary gear system
Figure 9.17 Planetary gear system
Figure 9.18 One degree of freedom
Figure 9.19 Vehicle differential
Figure 9.20 Two input motors driving drum
Figure 9.21 Planetary clutch
Figure 9.22 Planetary creeper drive
Figure 9.23 Fixed arm gear train
Figure 9.24 Planetary gear train
Figure 9.25 Double planetary gear system
Figure 9.26 Planetary gear train
Figure 9.27 Problems 16 and 17
Figure 9.28 Problems 18 and 19
Figure 9.29 Problem 20
Figure 9.30 Problem 21
Figure 9.31 Problem 22
Figure 9.32 Problems 23 and 26
Figure 9.33 Problem 27
Figure 9.34 Problem 28
Chapter 10
Figure 10.1 Disk cam with different types of followers
Figure 10.2 Simple harmonic motion of the follower
Figure 10.3 Pressure angle,
φ.
Figure 10.4 Follower displacement diagram
Figure 10.5 Harmonic motion
Figure 10.6 Cycloidal rise motion
Figure 10.7 5-4-3 Polynomial motion
Figure 10.8 Example of a fifth-order polynomial motion
Figure 10.9 Knife-edge follower
Figure 10.10 In-line translating roller follower
Figure 10.11 Pressure angle for in-line roller follower
Figure 10.12 Follower displacement diagram
Figure 10.13 Cam profile with roller follower
Figure 10.14 Offset roller follower
Figure 10.15 Translating flat-face follower
Figure 10.16 Follower displacement diagram
Figure 10.17 Cam profile with flat-face follower
Guide
Cover
Table of Contents
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