CHAPTER 1 Mechanisms and Machines：Basic Concepts

1.1 Introduction

1.2 Tools Available to the Designer of Linkages and Other Mechanisms

Hints for Effective Computer Use

Identifying a Need or a Problem

1.3 Systems of Units

Conversion Factors

1.4 Terminology and Definitions

Link

Frame

Joint or Kinematic Pair

Lower and Higher Pairs

Closed-Loop Kinematic Chains

Open-Loop Kinematic Chains

Manipulators

Robots

Linkage

Planar Motion and Planar Linkages

Spatial Morion and Spatial Linkages

Inversion

Cycle and Period

1.5 Degrees of Freedom(Mobility)

Constraints Due to Joints

Planar Linkages

Determination of Degrees of Freedom for a Planar Linkage

One-Degree-of-Freedom Configurations

1.6 Classification of Closed Planar Four-Bar Linkages：The Grashof Criterion

1.7 Transmission Angle

1.8 Limiting Positions of Slider-Crank Linkages

In-Line Slider-Crank Mechanisms

Offset Slider-Crank Mechanisms

1.9 Quick-Return Mechanisms

1.10 Linkage Interference

1.11 Mechanisms for Specific Applications

Slider-Crank Mechanism

Fluid Links

Gear Trains

Power Screws

Differential Screws

One-Way Clutches

Universal Joints

Automotive Steering Linkage

Computer-Controlled Industrial Robots

1.12 Computer-Aided Linkage Design

Research in Engineering Design Theory and Methodology

1.13 Mechanism Design Considerations

Problems

Bibliography and References

CHAPTER 2 Motion in Machinery：Positional Analysis of Planar Mechanisms

2.1 Motion

Examples of Rectilinear Morion：The Eccentric Cam and the Scotch Yoke

2.2 Vectors

Unit Vectors

Vector Components

2.3 Complex Numbers

Rectangular Form

Polar Form

Complex Arithmetic—Addition

Multiplication,Division,and Differentiation

2.4 Complex-Number Methods Applied to the Displacement Analysis of Linkages

Limiting Positions

Multiloop Linkages

Problems

Bibliography and References

CHAPTER 3 Velocity Analysis of Mechanisms

3.1 Basic Concepts

Velocity of a Point

Angular Velocity

Parameter Studies

3.2 Moving Coordinate Systems and Relative Velocity

Relative Velocity from Another Viewpoint

3.3 Complex-Number Methods Applied to Velocity Analysis

3.4 Graphical Analysis of Linkage Motion Utilizing Relative Velocity

Analyzing Motion of the In-Line Slider-Crank Mechanism

3.5 The Velocity Polygon

Velocity Image

3.6 Graphical Analysis of Basic Linkages

The Four-Bar Linkage

Analyzing Sliding Contact Linkages

Comparison of Results with an Analytical Solution

3.7 Analyzing Combinations of Basic Linkages

Toggle Linkage

Beam Pump

3.8 Centros

Kennedy's Theorem

Centros of a Four-Bar Linkage

Analyzing a Slider-Crank Mechanism

Problems

Bibliography and References

CHAPTER 4 Acceleration Analysis of Mechanisms

4.1 Basic Concepts

Acceleration of a Point

Angular Acceleration

Moving Coordinate Systems

Relative Acceleration

4.2 Complex-Number Methods Applied to Acceleration Analysis

Solving the Complex Acceleration Equation

4.3 The Acceleration Polygon

Analysis of Slider-Crank Mechanisms

Comparison with an Analytical Solution

Acceleration Image

Graphical Analysis of the Four-Bar Linkage

4.4 Graphical Analysis of Sliding Contact Linkages

Coriolis Acceleration

Comparison of Results with an Analytical Solution

4.5 Analyzing Combinations of Basic Linkages

Problems

Bibliography and References

CHAPTER 5 Design and Analysis of Cam-and-Follower Systems

5.1 Introduction

Some Applications of Cam-and-Follower Systems

Terminology

Disk Cam Design and Manufacture

5.2 Graphical Cam design

5.3 Cam Design in Terms of Follower Motion

Possible Forms of Follower Displacement

Uniform Motion

Parabolic Motion

Harmonic Motion

Follower Return

Problems with Harmonic and Parabolic Motion

Follower Motion for High-Speed Cams

5.4 Cycloidal Cams

Polynomial Motion

5.5 Design of Good High-Speed Polynomial Cams

5.6 Analytical Cam Design Based on the Theory of Envelopes

Theory of Envelopes

Disk Cam with Translating Flat-Faced Follower

Disk Cam with Translating Offset Roller Follower

Pressure Angle

Disk Cam with Rotating Flat-Faced Follower

Disk Cam with Rotating Roller Follower

Cam Curvature

Translating Flat-Faced Follower

Translating Roller Follower

5.7 Positive-Motion Cams

Face Cam

Constant-Breadth Cams

Conjugate Cams

Cylindrical Cams

Problems

Bibliography and References

CHAPTER 6 Spur Gears：Design and Analysis

6.1 Gear Types

6.2 Spur Gear Terminology

Backlash

6.3 Fundamental Law of Gearing

Conjugate Action and the Involute Curve

The Base Circle

The Line of Action

The Pressure Angle

Contact Length

Contact Ratio

6.4 Internal Gears

6.5 Standard Gears

6.6 Gear Manufacture

6.7 Sliding Action of Gear Teeth

6.8 Interference

Undercutting

Stub Teeth

Problems

Bibliography and References

CHAPTER 7 Helical,Worm,and Bevel Gears：Design and Analysis

7.1 Helical Gears on Parallel Shafts

Helical Gear Tooth Contact

Helical Gear Terminology and Geometry

Normal Pitch and Normal Module

Pressure Angle

Center Distance

Face Width

Axial Pitch

Contact Ratio and Axial Contact Ratio(Axial Overlap)

Velocity Ratio of Helical Gears on Parallel Shafts

Helical Gear Forces

Eliminating Thrust with Herringbone Gears

7.2 Crossed Helical Gears

Crossed Helical Gear Geometry

Center Distance

Velocity Ratio of Crossed Helical Gears

7.3 Worm Gears

Worm Gear Terminology and Geometry

Velocity Ratio of Worm Gear Sets with Perpendicular Shafts

7.4 Bevel Gears

Bevel Gear Terminology and Geometry

Velocity Ratio of Bevel Gears

Other Types of Bevel Gears

Problems

Bibliography and References

CHAPTER 8 Drive Trains：Design and Analysis

8.1 Introduction

8.2 Velocity Ratios for Spur and Helical Gear Trains

Spur Gear Trains

Helical Gear Trains

Worm Drives

Idlers

Reversing Direction

Double Reductions

8.3 Planetary Gear Trains

Formula Method(Train Value Formulation Method)for Solving Planetary Trains

Input and Output Shafts

Tabular Analysis(Superposition)：An An Alternative Method for Analyzing of Planetary Trains

Compound Planetary Trains

Balanced Planetary Trains

Planetary Differential Drives

Tandem Planetary Trains

Planetary Trains with More than One Input

Differentials and Phase Shifters

8.4 Other Drive Train Elements

Chain Drives

Belt Drives

V Belt Drives

Flat Belts

Positive-Drive Belts

Flexible-Spline Drives

Problems

Bibliography and References

CHAPTER 9 Static-Force Analysis

9.1 Introduction

9.2 Graphical Force Analysis

Graphical Force Analysis of the Slider-Crank Mechanism

Graphical Foree Analysis of the Four-Bar Linkage

9.3 Analytical Statics

Static-Equilibrium Equations

Analytical Solution for the Four-Bar Linkage

9.4 Friction in Mechanisms

Graphical Solution for a Slider-Crank Mechanism Including Friction

Problems

Bibliography and References

CHAPTER 10 Dynamic-Force Analysis

10.1 Introduction

10.2 D'Alembert'S Principle and Inertial Forces

Equivalent Offset Inertial Force

10.3 Dynamic Analysis of the Four-Bar Linkage

10.4 Dynamic Analysis of the Slider-Crank Mechanism

Equivalent Inertia

Approximate Dynamic Analysis Equations

Dynamic-Force Analysis for an Assumed Motion of a Mechanism

Dynamic-Motion Analysis for an Assumed Input Torque

10.5 Balancing of Machinery

10.6 Balancing of Rigid Rotors

Static Balancing

Dynamic Balancing

10.7 Balancing of Reciprocating Machines

Single-Cylinder Machines

Problems

Bibliography and References

CHAPTER 11 Synthesis

11.1 Type Synthesis

11.2 Number Synthesis

11.3 Two-Position Synthesis

Graphical Solution

Computer Solution

Inaccessible Pivot Point

11.4 Three-Position Synthesis Using a Four-Bar Linkage

11.5 Design of a Function Generator：Dot-Product Method

Selection of Precision Points

11.6 Coupler Curves

Problems

Bibliography and References

Partial Answers to Selected Problems

Some Conversion Factors

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