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Theory of Machines & Mechanisms

3/E

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3/E

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Theory of Machines and Mechanisms provides the foundation for the 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 and independent technical approaches that exist in the field of mechanisms, kinematics, and dynamics. Coverage of all analysis and development methods is balanced, with the use of both analytic and graphic tools. This text is ideal for senior or graduate students studying mechanical engineering, taking a kinematics and/or machine dynamics course. Features Includes an introduction to kinematic coefficients, which clearly separates kinematic (geometric) effects from operating speed and other dynamic dependences, and unifies the coverage of linkages with that for cams and geared systems Contains entirely new chapters on the analysis and design of flywheels, governors, and gyroscopes Provides graphical and analytical solutions to exercises, now verified by professional CAD software with an accuracy rate of better than one percent Offers new, quality illustrations, now in two colors Solutions Manual and PowerPointRG Overheads available to adopters only

저자소개

저자 : Uicker, John Joseph/ Pennock, G. R./ Shigley, Jose

목차

Prefacep. XIII
About the Authorsp. XVII
Kinematics and Mechanismsp. 1
The World of Mechanismsp. 3
Introductionp. 3
Analysis and Synthesisp. 4
The Science of Mechanicsp. 4
Terminology, Definitions, and Assumptionsp. 5
Planar, Spherical, and Spatial Mechanismsp. 10
Mobilityp. 11
Classification of Mechanismsp. 14
Kinematic Inversionp. 26
Grashof's Lawp. 27
Mechanical Advantagep. 29
Problemsp. 31
Position and Displacementp. 33
Locus of a Moving Pointp. 33
Position of a Pointp. 36
Position Difference Between Two Pointsp. 37
Apparent Position of a Pointp. 38
Absolute Position of a Pointp. 39
The Loop-Closure Equationp. 41
Graphic Position Analysisp. 45
Algebraic Position Analysisp. 51
Complex-Algebra Solutions of Planar Vector Equationsp. 55
Complex Polar Algebrap. 57
Position Analysis Techniquesp. 60
The Chace Solutions to Planar Vector Equationsp. 64
Coupler-Curve Generationp. 68
Displacement of a Moving Pointp. 70
Displacement Difference Between Two Pointsp. 71
Rotation and Translationp. 72
Apparent Displacementp. 74
Absolute Displacementp. 75
Problemsp. 76
Velocityp. 79
Definition of Velocityp. 79
Rotation of a Rigid Bodyp. 80
Velocity Difference Between Points of a Rigid Bodyp. 82
Graphic Methods; Velocity Polygonsp. 85
Apparent Velocity of a Point in a Moving Coordinate Systemp. 92
Apparent Angular Velocityp. 97
Direct Contact and Rolling Contactp. 98
Systematic Strategy for Velocity Analysisp. 99
Analytic Methodsp. 100
Complex-Algebra Methodsp. 101
The Method of Kinematic Coefficientsp. 105
The Vector Methodp. 116
Instantaneous Center of Velocityp. 117
The Aronhold-Kennedy Theorem of Three Centersp. 119
Locating Instant Centers of Velocityp. 120
Velocity Analysis Using Instant Centersp. 123
The Angular-Velocity-Ratio Theoremp. 126
Relationships Between First-Order Kinematic Coefficients and Instant Centersp. 127
Freudenstein's Theoremp. 129
Indices of Merit; Mechanical Advantagep. 130
Centrodesp. 133
Problemsp. 135
Accelerationp. 141
Definition of Accelerationp. 141
Angular Accelerationp. 144
Acceleration Difference Between Points of a Rigid Bodyp. 144
Acceleration Polygonsp. 151
Apparent Acceleration of a Point in a Moving Coordinate Systemp. 155
Apparent Angular Accelerationp. 163
Direct Contact and Rolling Contactp. 164
Systematic Strategy for Acceleration Analysisp. 167
Analytic Methodsp. 168
Complex-Algebra Methodsp. 169
The Method of Kinematic Coefficientsp. 171
The Chace Solutionsp. 175
The Instant Center of Accelerationp. 177
The Euler-Savary Equationp. 178
The Bobillier Constructionsp. 183
Radius of Curvature of a Point Trajectory Using Kinematic Coefficientsp. 187
The Cubic of Stationary Curvaturep. 188
Problemsp. 190
Design of Mechanismsp. 195
Cam Designp. 197
Introductionp. 197
Classification of Cams and Followersp. 198
Displacement Diagramsp. 200
Graphical Layout of Cam Profilesp. 203
Kinematic Coefficients of the Follower Motionp. 207
High-Speed Camsp. 211
Standard Cam Motionsp. 212
Matching Derivatives of the Displacement Diagramsp. 222
Plate Cam with Reciprocating Flat-Face Followerp. 225
Plate Cam with Reciprocating Roller Followerp. 230
Problemsp. 250
Spur Gearsp. 252
Terminology and Definitionsp. 252
Fundamental Law of Toothed Gearingp. 255
Involute Propertiesp. 256
Interchangeable Gears; AGMA Standardsp. 257
Fundamentals of Gear-Tooth Actionp. 259
The Manufacture of Gear Teethp. 262
Interference and Undercuttingp. 265
Contact Ratiop. 268
Varying the Center Distancep. 270
Involutometryp. 271
Nonstandard Gear Teethp. 274
Problemsp. 282
Helical Gearsp. 286
Parallel-Axis Helical Gearsp. 286
Helical Gear Tooth Relationsp. 287
Helical Gear Tooth Proportionsp. 289
Contact of Helical Gear Teethp. 290
Replacing Spur Gears with Helical Gearsp. 291
Herringbone Gearsp. 292
Crossed-Axis Helical Gearsp. 292
Problemsp. 295
Bevel Gearsp. 297
Straight-Tooth Bevel Gearsp. 297
Tooth Proportions for Bevel Gearsp. 301
Crown and Face Gearsp. 302
Spiral Bevel Gearsp. 303
Hypoid Gearsp. 304
Problemsp. 305
Worms and Worm Gearsp. 306
Basicsp. 306
Problemsp. 310
Mechanism Trainsp. 311
Parallel-Axis Gear Trainsp. 311
Examples of Gear Trainsp. 313
Determining Tooth Numbersp. 314
Epicyclic Gear Trainsp. 315
Bevel Gear Epicyclic Trainsp. 317
Analysis of Planetary Gear Trains by Formulap. 317
Tabular Analysis of Planetary Gear Trainsp. 319
Adders and Differentialsp. 323
All Wheel Drive Trainp. 327
Problemsp. 329
Synthesis of Linkagesp. 332
Type, Number, and Dimensional Synthesisp. 332
Function Generation, Path Generation, and Body Guidancep. 333
Two-Position Synthesis of Slider-Crank Mechanismsp. 333
Two-Position Synthesis of Crank-and-Rocker Mechanismsp. 334
Crank-Rocker Mechanisms with Optimum Transmission Anglep. 335
Three-Position Synthesisp. 338
Four-Position Synthesis; Point-Precision Reductionp. 339
Precision Positions; Structural Error; Chebychev Spacingp. 341
The Overlay Methodp. 343
Coupler-Curve Synthesisp. 344
Cognate Linkages; The Roberts-Chebychev Theoremp. 348
Bloch's Method of Synthesisp. 350
Freudenstein's Equationp. 352
Analytic Synthesis Using Complex Algebrap. 356
Synthesis of Dwell Mechanismsp. 360
Intermittent Rotary Motionp. 361
Problemsp. 366
Spatial Mechanismsp. 368
Introductionp. 368
Exceptions in the Mobility of Mechanismsp. 369
The Position-Analysis Problemp. 373
Velocity and Acceleration Analysesp. 378
The Eulerian Anglesp. 384
The Denavit-Hartenberg Parametersp. 387
Transformation-Matrix Position Analysisp. 389
Matrix Velocity and Acceleration Analysesp. 392
Generalized Mechanism Analysis Computer Programsp. 397
Problemsp. 400
Roboticsp. 403
Introductionp. 403
Topological Arrangements of Robotic Armsp. 404
Forward Kinematicsp. 407
Inverse Position Analysisp. 411
Inverse Velocity and Acceleration Analysesp. 414
Robot Actuator Force Analysesp. 418
Problemsp. 421
Dynamics of Machinesp. 423
Static Force Analysisp. 425
Introductionp. 425
Newton's Lawsp. 427
Systems of Unitsp. 428
Applied and Constraint Forcesp. 429
Free-Body Diagramsp. 432
Conditions for Equilibriump. 433
Two- and Three-Force Membersp. 435
Four-Force Membersp. 443
Friction-Force Modelsp. 445
Static Force Analysis with Frictionp. 448
Spur- and Helical-Gear Force Analysisp. 451
Straight-Bevel-Gear Force Analysisp. 457
The Method of Virtual Workp. 461
Problemsp. 464
Dynamic Force Analysis (Planar)p. 470
Introductionp. 470
Centroid and Center of Massp. 470
Mass Moments and Products of Inertiap. 475
Inertia Forces and D'Alembert's Principlep. 478
The Principle of Superpositionp. 485
Planar Rotation About a Fixed Centerp. 489
Shaking Forces and Momentsp. 492
Complex Algebra Approachp. 492
Equation of Motionp. 502
Problemsp. 511
Dynamic Force Analysis (Spatial)p. 515
Introductionp. 515
Measuring Mass Moment of Inertiap. 515
Transformation of Inertia Axesp. 519
Euler's Equations of Motionp. 523
Impulse and Momentump. 527
Angular Impulse and Angular Momentump. 528
Problemsp. 538
Vibration Analysisp. 542
Differential Equations of Motionp. 542
A Vertical Modelp. 546
Solution of the Differential Equationp. 547
Step Input Forcingp. 551
Phase-Plane Representationp. 553
Phase-Plane Analysisp. 555
Transient Disturbancesp. 559
Free Vibration with Viscous Dampingp. 563
Damping Obtained by Experimentp. 565
Phase-Plane Representation of Damped Vibrationp. 567
Response to Periodic Forcingp. 571
Harmonic Forcingp. 574
Forcing Caused by Unbalancep. 579
Relative Motionp. 580
Isolationp. 580
Rayleigh's Methodp. 583
First and Second Critical Speeds of a Shaftp. 586
Torsional Systemsp. 592
Problemsp. 594
Dynamics of Reciprocating Enginesp. 598
Engine Typesp. 598
Indicator Diagramsp. 603
Dynamic Analysis--Generalp. 606
Gas Forcesp. 606
Equivalent Massesp. 609
Inertia Forcesp. 610
Bearing Loads in a Single-Cylinder Enginep. 613
Crankshaft Torquep. 616
Engine Shaking Forcesp. 616
Computation Hintsp. 617
Problemsp. 620
Balancingp. 621
Static Unbalancep. 621
Equations of Motionp. 622
Static Balancing Machinesp. 624
Dynamic Unbalancep. 626
Analysis of Unbalancep. 627
Dynamic Balancingp. 635
Balancing Machinesp. 638
Field Balancing with a Programmable Calculatorp. 640
Balancing a Single-Cylinder Enginep. 643
Balancing Multicylinder Enginesp. 647
Analytical Technique for Balancing Multicylinder Reciprocating Enginesp. 651
Balancing Linkagesp. 656
Balancing of Machinesp. 661
Problemsp. 663
Cam Dynamicsp. 665
Rigid- and Elastic-Body Cam Systemsp. 665
Analysis of an Eccentric Camp. 666
Effect of Sliding Frictionp. 670
Analysis of Disk Cam with Reciprocating Roller Followerp. 671
Analysis of Elastic Cam Systemsp. 673
Unbalance, Spring Surge, and Windupp. 675
Problemsp. 676
Flywheelsp. 678
Dynamic Theoryp. 678
Integration Techniquep. 680
Multicylinder Engine Torque Summationp. 682
Problemsp. 683
Governorsp. 685
Classificationp. 685
Centrifugal Governorsp. 686
Inertia Governorsp. 687
Mechanical Control Systemsp. 687
Standard Input Functionsp. 689
Solution of Linear Differential Equationsp. 690
Analysis of Proportional-Error Feedback Systemsp. 695
Gyroscopesp. 699
Introductionp. 699
The Motion of a Gyroscopep. 700
Steady or Regular Precessionp. 701
Forced Precessionp. 704
Problemsp. 711
Appendixes
Tables
Standard SI Prefixesp. 712
Conversion from U.S. Customary Units to SI Unitsp. 713
Conversion from SI Units to U.S. Customary Unitsp. 713
Properties of Areasp. 714
Mass Moments of Inertiap. 715
Involute Functionp. 716
Answers to Selected Problemsp. 718
Indexp. 725
Table of Contents provided by Syndetics. All Rights Reserved.

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