Preface xv
Acknowledgments xvii
About the companion website xix
1 Introductory Concepts 1
1.1 Introduction to Machines 1
1.2 Units 6
1.3 Machines and Mechanisms 10
1.4 Linkage Mechanisms 14
1.5 Common Types of Linkage Mechanisms 16
1.6 Gears 21
1.7 Cams 27
1.8 Solution Methods 28
1.9 Methods of Problem Solving 30
1.10 Review and Summary 31
Problems 31
Further Reading 33
2 Essential Kinematics Concepts 34
2.1 Introdction 34
2.2 Basic Concepts of Velocity and Acceleration 35
2.3 Translational Motion 35
2.4 Rotation about a Fixed Axis 36
2.5 General Plane Motion 41
2.6 Computer Methods 53
2.7 Review and Summary 58
Problems 58
Further Reading 65
3 Linkage Position Analysis 66
3.1 Introduction 66
3.2 Mobility 67
3.3 Inversion 72
3.4 Grashof’s Criterion 72
3.5 Coupler Curves 74
3.6 Cognate Linkages 76
3.7 Transmission Angle 79
3.8 Geometrical Method of Position Analysis 80
3.9 Analytical Position Analysis 92
3.10 Toggle Positions 100
3.11 Computer Methods for Position Analysis 100
3.12 Review and Summary 103
Problems 103
Further Reading 107
4 Linkage Velocity and Acceleration Analysis 108
4.1 Introduction 108
4.2 Finite Displacement: Approximate Velocity Analysis 109
4.3 Instantaneous Centers of Rotation 111
4.4 Graphical Velocity Analysis 119
4.5 Analytical Velocity Analysis Methods 125
4.6 Graphical Acceleration Analysis Methods 130
4.7 Analytical Acceleration Analysis Methods 134
4.8 Kinematic Analysis of Linkage Mechanisms with Moving Slides 135
4.9 Review and Summary 147
Problems 147
Further Reading 153
5 Linkage Synthesis 154
5.1 Introduction 154
5.2 Synthesis 155
5.3 Two-Position Graphical Dimensional Synthesis 156
5.4 Three-Position Graphical Dimensional Synthesis 162
5.5 Approximate Dwell Linkage Mechanisms 167
5.6 Quick Return Mechanisms 169
5.7 Function Generation 176
5.8 Review and Summary 182
Problems 182
Further Reading 189
6 Computational Methods for Linkage Mechanism Kinematics 190
6.1 Introduction 190
6.2 Matrix Review 190
6.3 Position Equations 196
6.4 Velocity Analysis 206
6.5 Acceleration Equations 209
6.6 Dynamic Simulation Using Autodesk Inventor 210
6.7 Review and Summary 211
Problems 212
Further Reading 214
7 Gear Analysis 215
7.1 Introduction 215
7.2 Involute Curves 216
7.3 Terminology 219
7.4 Tooth Contact 228
7.5 Analysis of Spur Gears 234
7.6 Analysis of Parallel Helical Gears 239
7.7 Analysis of Crossed Helical Gears 242
7.8 Analysis of Bevel Gears 246
7.9 Analysis of Worm Gearing 249
7.10 Review and Summary 252
Problems 252
Further Reading 254
8 Gear Trains 255
8.1 Introduction 255
8.2 Simple Gear Trains 256
8.3 Compound Gear Trains 258
8.4 Reverted Compound Gear Trains 262
8.5 Gear Trains with Different Types of Gears 264
8.6 Planetary Gear Trains 266
8.7 Differentials 273
8.8 Computer Methods for Gear Train Design 274
8.9 Review and Summary 274
Problems 275
Further Reading 279
9 Cams 280
9.1 Introduction 280
9.2 Types of Cams and Followers 281
9.3 Basic Concepts of Cam Geometry and Cam Profiles 283
9.4 Common Cam Functions 285
9.5 Using Cam Functions for Specific Applications 295
9.6 Application of Cam Functions for Double-Dwell Mechanisms 299
9.7 Application of Cam Functions for Single-Dwell Mechanisms 301
9.8 Application of Cam Functions for Critical Path Motion 308
9.9 Cam Geometry 310
9.10 Determining Cam Size 312
9.11 Design of Cam Profiles 316
9.12 Computer Methods for Cam Design 322
9.13 Review and Summary 322
Problems 323
Reference 327
10 Vibration Theory 328
10.1 Introduction 328
10.2 System Components 329
10.3 Frequency and Period 333
10.4 Undamped Systems 333
10.5 Torsional Systems 344
10.6 Damped Systems 346
10.7 Logarithmic Decrement 353
10.8 Forced Vibration: Harmonic Forcing Functions 356
10.9 Response of Undamped Systems to General Loading 372
10.10 Review and Summary 381
Problems 381
Further Reading 386
11 Dynamic Force Analysis 387
11.1 Introduction 387
11.2 Superposition Method of Force Analysis 388
11.3 Matrix Method Force Analysis 399
11.4 Sliding Joint Forces 405
11.5 Energy Methods of Force Analysis: Method of Virtual Work 410
11.6 Force Analysis for Slider–Crank Mechanisms Using Lumped Mass 412
11.7 Gear Forces 416
11.8 Computer Methods 418
11.9 Review and Summary 418
Problems 419
Further Reading 421
12 Balancing of Machinery 422
12.1 Introduction 422
12.2 Static Balancing 423
12.3 Dynamic Balancing 431
12.4 Vibration from Rotating Unbalance 437
12.5 Balancing Slider–Crank Linkage Mechanisms 439
12.6 Balancing Linkage Mechanisms 447
12.7 Flywheels 448
12.8 Measurement Devices 455
12.9 Computer Methods 458
12.10 Review and Summary 459
Problems 459
References 464
Further Reading 464
13 Applications of Machine Dynamics 465
13.1 Introduction 465
13.2 Cam Response for Simple Harmonic Functions 465
13.3 General Response Using Laplace Transform Method 469
13.4 System Response Using Numerical Methods 479
13.5 Advanced Cam Functions 482
13.6 Forces Acting on the Follower 492
13.7 Computer Applications of Cam Response 494
13.8 Internal Combustion Engines 494
13.9 Common Arrangements of Multicylinder Engines 499
13.10 Flywheel Analysis for Internal Combustion Engines 504
13.11 Review and Summary 506
Problems 506
References 507
Further Reading 507
Appendix A – Center of Mass 509
Appendix B – Moments of Inertia 512
Appendix C – Fourier Series 521
Index 529
