Theory of Machines and Mechanisms

Theory of Machines and Mechanisms, Fifth Edition, is an ideal text for the complete study of displacements, velocities, accelerations, and static and dynamic forces required for the proper design of mechanical linkages, cams, and geared systems. The authors present the background, notation, and nomenclature essential for students to understand the various independent technical approaches that exist in the field of mechanisms, kinematics, and dynamics. The fifth edition features streamlined coverage and substantially revised worked examples. This latest edition also includes a greater number of problems, suitable for in-class discussion or homework, at the end of each chapter.

FEATURES

* Offers balanced coverage of all topics by both graphic and analytic methods

* Covers all major analytic approaches

* Provides high-accuracy graphical solutions to exercises, by use of CAD software

* Includes the method of kinematic coefficients and also integrates the coverage of linkages, cams, and geared systems

* An Ancillary Resource Center (ARC) offers an Instructor's Solutions Manual, solutions to 100 of the problems from the text using MatLab, and PowerPoint lecture slides

* A Companion Website includes more than 100 animations of key figures from the text

John J. Uicker, Jr. is Professor Emeritus of Mechanical Engineering at the University of Wisconsin-Madison.

Gordon R. Pennock is Associate Professor of Mechanical Engineering at Purdue University.

The late Joseph E. Shigley was Professor Emeritus of Engineering at The University of Michigan.

Preface
About the Authors
PART 1. KINEMATICS AND MECHANISMS
1. The World of Mechanisms
1.1 Introduction
1.2 Analysis and Synthesis
1.3 Science of Mechanics
1.4 Terminology, Definitions, and Assumptions
1.5 Planar, Spheric, and Spatial Mechanisms
1.6 Mobility
1.7 Characteristics of Mechanisms
1.8 Kinematic Inversion
1.9 Grashof's Law
1.10 Mechanical Advantage
1.11 References
1.12 Problems
2. Position, Posture, and Displacement
2.1 Locus of a Moving Point
2.2 Position of a Point
2.3 Position Difference Between Two Points
2.4 Apparent Position of a Point
2.5 Absolute Position of a Point
2.6 Posture of a Rigid Body
2.7 Loop-Closure Equations
2.8 Graphic Posture Analysis
2.9 Algebraic Posture Analysis
2.10 Complex-Algebra Solutions of Planar Vector Equations
2.11 Complex Polar Algebra
2.12 Posture Analysis Techniques
2.13 Coupler-Curve Generation
2.14 Displacement of a Moving Point
2.15 Displacement Difference Between Two Points
2.16 Translation and Rotation
2.17 Apparent Displacement
2.18 Absolute Displacement
2.19 Apparent Angular Displacement
2.20 References
2.21 Problems
3. Velocity
3.1 Definition of Velocity
3.2 Rotation of a Rigid Body
3.3 Velocity Difference Between Points of a Rigid Body
3.4 Velocity Polygons; Velocity Images
3.5 Apparent Velocity of a Point in a Moving Coordinate System
3.6 Apparent-Angular Velocity
3.7 Direct Contact and Rolling Contact
3.8 Systematic Strategy for Velocity Analysis
3.9 Algebraic Velocity Analysis
3.10 Complex-Algebraic Velocity Analysis
3.11 Method of Kinematic Coefficients
3.12 Instantaneous Centers of Velocity
3.13 Aronhold-Kennedy Theorem of Three Centers
3.14 Locating Instantaneous Centers of Velocity
3.15 Velocity Analysis Using Instant Centers
3.16 Angular-Velocity-Ratio Theorem
3.17 Relationships Between First-Order Kinematic Coefficients and Instant Centers
3.18 Freudenstein's Theorem
3.19 Indices of Merit; Mechanical Advantage
3.20 Centrodes
3.21 References
3.22 Problems
4. Acceleration
4.1 Definition of Acceleration
4.2 Angular Acceleration
4.3 Acceleration Difference Between Points of a Rigid Body
4.4 Acceleration Images
4.5 Apparent Acceleration of a Point in a Moving Coordinate System
4.6 Apparent-Angular Acceleration
4.7 Direct Contact and Rolling Contact
4.8 Systematic Strategy for Acceleration Analysis
4.9 Algebraic Acceleration Analysis
4.10 Complex-Algebraic Acceleration Analysis
4.11 Method of Kinematic Coefficients
4.12 Euler-Savary Equation
4.13 Bobillier Constructions
4.14 Instantaneous Center of Acceleration
4.15 Bresse Circle (or de La Hire Circle)
4.16 Radius of Curvature of a Point Trajectory Using Kinematic Coefficients
4.17 Cubic of Stationary Curvature
4.18 References
4.19 Problems
5. Multi-Degree-of-Freedom Planar Linkages
5.1 Introduction
5.2 Posture Analysis; Algebraic Solution
5.3 Velocity Analysis; Velocity Polygons
5.4 Instantaneous Centers of Velocity
5.5 First-Order Kinematic Coefficients
5.6 Method of Superposition
5.7 Acceleration Analysis; Acceleration Polygons
5.8 Second-Order Kinematic Coefficients
5.9 Path Curvature of a Coupler Point Trajectory
5.10 Finite Difference Method
5.11 References
5.12 Problems
PART 2. DESIGN OF MECHANISMS
6. Cam Design
6.1 Introduction
6.2 Classification of Cams and Followers
6.3 Displacement Diagrams
6.4 Graphic Layout of Cam Profiles
6.5 Kinematic Coefficients of Follower
6.6 High-Speed Cams
6.7 Standard Cam Motions
6.8 Matching Derivatives of Displacement Diagrams
6.9 Plate Cam with Reciprocating Flat-Face Follower
6.10 Plate Cam with Reciprocating Roller Follower
6.11 Rigid and Elastic Cam Systems
6.12 Dynamics of an Eccentric Cam
6.13 Effect of Sliding Friction
6.14 Dynamics of Disk Cam with Reciprocating Roller Follower
6.15 Dynamics of Elastic Cam Systems
6.16 Unbalance, Spring Surge, and Windup
6.17 References
6.18 Problems
7. Spur Gears
7.1 Terminology and Definitions
7.2 Fundamental Law of Toothed Gearing
7.3 Involute Properties
7.4 Interchangeable Gears; AGMA Standards
7.5 Fundamentals of Gear-Tooth Action
7.6 Manufacture of Gear Teeth
7.7 Interference and Undercutting
7.8 Contact Ratio
7.9 Varying Center Distance
7.10 Involutometry
7.11 Nonstandard Gear Teeth
7.12 Parallel-Axis Gear Trains
7.13 Determining Tooth Numbers
7.14 Epicyclic Gear Trains
7.15 Analysis of Epicyclic Gear Trains by Formula
7.16 Tabular Analysis of Epicyclic Gear Trains
7.17 References
7.18 Problems
8. Helical Gears, Bevel Gears, Worms, and Worm Gears
8.1 Parallel-Axis Helical Gears
8.2 Helical Gear Tooth Relations
8.3 Helical Gear Tooth Proportions
8.4 Contact of Helical Gear Teeth
8.5 Replacing Spur Gears with Helical Gears
8.6 Herringbone Gears
8.7 Crossed-Axis Helical Gears
8.8 Straight-Tooth Bevel Gears
8.9 Tooth Proportions for Bevel Gears
8.10 Bevel Gear Epicyclic Trains
8.11 Crown and Face Gears
8.12 Spiral Bevel Gears
8.13 Hypoid Gears
8.14 Worms and Worm Gears
8.15 Summers and Differentials
8.16 All-Wheel Drive Train
8.17 Note
8.18 Problems
9. Synthesis of Linkages
9.1 Type, Number, and Dimensional Synthesis
9.2 Function Generation, Path Generation, and Body Guidance
9.3 Two Finitely Separated Postures of a Rigid Body (N = 2)
9.4 Three Finitely Separated Postures of a Rigid Body (N = 3)
9.5 Four Finitely Separated Postures of a Rigid Body (N = 4)
9.6 Five Finitely Separated Postures of a Rigid Body (N =5)
9.7 Precision Postures; Structural Error; Chebychev Spacing
9.8 Overlay Method
9.9 Coupler-Curve Synthesis
9.10 Cognate Linkages; Roberts-Chebychev Theorem
9.11 Freudenstein's Equation
9.12 Analytic Synthesis Using Complex Algebra
9.13 Synthesis of Dwell Mechanisms
9.14 Intermittent Rotary Motion
9.15 References
9.16 Problems
10. Spatial Mechanisms and Robotics
10.1 Introduction
10.2 Exceptions to the Mobility Criterion
10.3 Spatial Posture-Analysis Problem
10.4 Spatial Velocity and Acceleration Analyses
10.5 Euler Angles
10.6 Denavit-Hartenberg Parameters
10.7 Transformation-Matrix Posture Analysis
10.8 Matrix Velocity and Acceleration Analyses
10.9 Generalized Mechanism Analysis Computer Programs
10.10 Introduction to Robotics
10.11 Topological Arrangements of Robotic Arms
10.12 Forward Kinematics Problem
10.13 Inverse Kinematics Problem
10.14 Inverse Velocity and Acceleration Analyses
10.15 Robot Actuator Force Analysis
10.16 References
10.17 Problems
PART 3. DYNAMICS OF MACHINES
11. Static Force Analysis
11.1 Introduction
11.2 Newton's Laws
11.3 Systems of Units
11.4 Applied and Constraint Forces
11.5 Free-Body Diagrams
11.6 Conditions for Equilibrium
11.7 Two- and Three-Force Members
11.8 Four- and More-Force Members
11.9 Friction-Force Models
11.10 Force Analysis with Friction
11.11 Spur- and Helical-Gear Force Analysis
11.12 Straight-Tooth-Bevel-Gear Force Analysis
11.13 Method of Virtual Work
11.14 Introduction to Buckling
11.15 Euler Column Formula
11.16 Critical Unit Load
11.17 Critical Unit Load and Slenderness Ratio
11.18 Johnson's Parabolic Equation
11.19 References
11.20 Problems
12. Dynamic Force Analysis
12.1 Introduction
12.2 Centroid and Center of Mass
12.3 Mass Moments and Products of Inertia
12.4 Inertia Forces and d'Alembert's Principle
12.5 Principle of Superposition
12.6 Planar Rotation about a Fixed Center
12.7 Shaking Forces and Moments
12.8 Complex Algebra Approach
12.9 Equation of Motion From Power Equation
12.10 Measuring Mass Moments of Inertia
12.11 Transformation of Inertia Axes
12.12 Euler's Equations of Motion
12.13 Impulse and Momentum
12.14 Angular Impulse and Angular Momentum
12.15 References
12.16 Problems
13. Vibration Analysis
13.1 Differential Equations of Motion
13.2 A Vertical Model
13.3 Solution of the Differential Equation
13.4 Step Input Forcing
13.5 Phase-Plane Representation
13.6 Phase-Plane Analysis
13.7 Transient Disturbances
13.8 Free Vibration with Viscous Damping
13.9 Damping Obtained by Experiment
13.10 Phase-Plane Representation of Damped Vibration
13.11 Response to Periodic Forcing
13.12 Harmonic Forcing
13.13 Forcing Caused by Unbalance
13.14 Relative Motion
13.15 Isolation
13.16 Rayleigh's Method
13.17 First and Second Critical Speeds of a Shaft
13.18 Torsional Systems
13.19 References
13.20 Problems
14. Dynamics of Reciprocating Engines
14.1 Engine Types
14.2 Indicator Diagrams
14.3 Dynamic Analysis-General
14.4 Gas Forces
14.5 Equivalent Masses
14.6 Inertia Forces
14.7 Bearing Loads in a Single-Cylinder Engine
14.8 Shaking Forces of Engines
14.9 Computation Hints
14.10 Problems
15. Balancing
15.1 Static Unbalance
15.2 Equations of Motion
15.3 Static Balancing Machines
15.4 Dynamic Unbalance
15.5 Analysis of Unbalance
15.6 Dynamic Balancing
15.7 Dynamic Balancing Machines
15.8 Field Balancing with a Programmable Calculator
15.9 Balancing a Single-Cylinder Engine
15.10 Balancing Multi-Cylinder Engines
15.11 Analytic Technique for Balancing Multi-Cylinder Engines
15.12 Balancing of Linkages
15.13 Balancing of Machines
15.14 References
15.15 Problems
16. Flywheels, Governors, and Gyroscopes
16.1 Dynamic Theory of Flywheels
16.2 Integration Technique
16.3 Multi-Cylinder Engine Torque Summation
16.4 Classification of Governors
16.5 Centrifugal Governors
16.6 Inertia Governors
16.7 Mechanical Control Systems
16.8 Standard Input Functions
16.9 Solution of Linear Differential Equations
16.10 Analysis of Proportional-Error Feedback Systems
16.11 Introduction to Gyroscopes
16.12 Motion of a Gyroscope
16.13 Steady or Regular Precession
16.14 Forced Precession
16.15 References
16.16 Problems
APPENDICES
Appendix A: Tables
Table 1 Standard SI Prefixes
Table 2 Conversion from US Customary Units to SI Units
Table 3 Conversion from SI Units to US Customary Units
Table 4 Areas and Area Moments of Inertia
Table 5 Mass and Mass Moments of Inertia
Table 6 Involute Function
Appendix B: Answers to Selected Problems
Index