Kinematics and Dynamics of Machinery 机械原理2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载

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CHAPTER 1 Mechanisms and Machines：Basic Concepts1

1.1 Introduction1

1.2 Tools Available to the Designer of Linkages and Other Mechanisms2

Hints for Effective Computer Use2

Identifying a Need or a Problem3

1.3 Systems of Units3

Conversion Factors4

1.4 Terminology and Definitions5

Link5

Frame5

Joint or Kinematic Pair5

Lower and Higher Pairs5

Closed-Loop Kinematic Chains8

Open-Loop Kinematic Chains8

Manipulators8

Robots9

Linkage9

Planar Motion and Planar Linkages9

Spatial Morion and Spatial Linkages9

Inversion10

Cycle and Period10

1.5 Degrees of Freedom(Mobility)10

Constraints Due to Joints10

Planar Linkages12

Determination of Degrees of Freedom for a Planar Linkage14

One-Degree-of-Freedom Configurations15

1.6 Classification of Closed Planar Four-Bar Linkages：The Grashof Criterion16

1.7 Transmission Angle19

1.8 Limiting Positions of Slider-Crank Linkages21

In-Line Slider-Crank Mechanisms21

Offset Slider-Crank Mechanisms22

1.9 Quick-Return Mechanisms23

1.10 Linkage Interference26

1.11 Mechanisms for Specific Applications27

Slider-Crank Mechanism27

Fluid Links27

Gear Trains27

Power Screws28

Differential Screws30

One-Way Clutches31

Universal Joints31

Automotive Steering Linkage33

Computer-Controlled Industrial Robots34

1.12 Computer-Aided Linkage Design35

Research in Engineering Design Theory and Methodology36

1.13 Mechanism Design Considerations36

Problems38

Bibliography and References41

CHAPTER 2 Motion in Machinery：Positional Analysis of Planar Mechanisms45

2.1 Motion45

Examples of Rectilinear Morion：The Eccentric Cam and the Scotch Yoke47

2.2 Vectors48

Unit Vectors48

Vector Components49

2.3 Complex Numbers50

Rectangular Form50

Polar Form50

Complex Arithmetic—Addition51

Multiplication,Division,and Differentiation51

2.4 Complex-Number Methods Applied to the Displacement Analysis of Linkages52

Limiting Positions54

Multiloop Linkages55

Problems55

Bibliography and References56

CHAPTER 3 Velocity Analysis of Mechanisms59

3.1 Basic Concepts59

Velocity of a Point60

Angular Velocity61

Parameter Studies64

3.2 Moving Coordinate Systems and Relative Velocity65

Relative Velocity from Another Viewpoint66

3.3 Complex-Number Methods Applied to Velocity Analysis68

3.4 Graphical Analysis of Linkage Motion Utilizing Relative Velocity71

Analyzing Motion of the In-Line Slider-Crank Mechanism71

3.5 The Velocity Polygon74

Velocity Image77

3.6 Graphical Analysis of Basic Linkages82

The Four-Bar Linkage82

Analyzing Sliding Contact Linkages83

Comparison of Results with an Analytical Solution85

3.7 Analyzing Combinations of Basic Linkages86

Toggle Linkage86

Beam Pump89

3.8 Centros89

Kennedy's Theorem90

Centros of a Four-Bar Linkage90

Analyzing a Slider-Crank Mechanism94

Problems94

Bibliography and References99

CHAPTER 4 Acceleration Analysis of Mechanisms101

4.1 Basic Concepts101

Acceleration of a Point101

Angular Acceleration102

Moving Coordinate Systems102

Relative Acceleration104

4.2 Complex-Number Methods Applied to Acceleration Analysis105

Solving the Complex Acceleration Equation106

4.3 The Acceleration Polygon108

Analysis of Slider-Crank Mechanisms108

Comparison with an Analytical Solution111

Acceleration Image112

Graphical Analysis of the Four-Bar Linkage114

4.4 Graphical Analysis of Sliding Contact Linkages116

Coriolis Acceleration116

Comparison of Results with an Analytical Solution120

4.5 Analyzing Combinations of Basic Linkages120

Problems123

Bibliography and References125

CHAPTER 5 Design and Analysis of Cam-and-Follower Systems127

5.1 Introduction128

Some Applications of Cam-and-Follower Systems128

Terminology128

Disk Cam Design and Manufacture129

5.2 Graphical Cam design130

5.3 Cam Design in Terms of Follower Motion132

Possible Forms of Follower Displacement133

Uniform Motion133

Parabolic Motion133

Harmonic Motion133

Follower Return133

Problems with Harmonic and Parabolic Motion134

Follower Motion for High-Speed Cams135

5.4 Cycloidal Cams136

Polynomial Motion138

5.5 Design of Good High-Speed Polynomial Cams138

5.6 Analytical Cam Design Based on the Theory of Envelopes140

Theory of Envelopes141

Disk Cam with Translating Flat-Faced Follower142

Disk Cam with Translating Offset Roller Follower144

Pressure Angle146

Disk Cam with Rotating Flat-Faced Follower147

Disk Cam with Rotating Roller Follower149

Cam Curvature150

Translating Flat-Faced Follower151

Translating Roller Follower151

5.7 Positive-Motion Cams153

Face Cam153

Constant-Breadth Cams153

Conjugate Cams154

Cylindrical Cams154

Problems154

Bibliography and References155

CHAPTER 6 Spur Gears：Design and Analysis157

6.1 Gear Types157

6.2 Spur Gear Terminology158

Backlash160

6.3 Fundamental Law of Gearing160

Conjugate Action and the Involute Curve162

The Base Circle162

The Line of Action166

The Pressure Angle166

Contact Length168

Contact Ratio170

6.4 Internal Gears172

6.5 Standard Gears172

6.6 Gear Manufacture173

6.7 Sliding Action of Gear Teeth177

6.8 Interference178

Undercutting181

Stub Teeth182

Problems182

Bibliography and References183

CHAPTER 7 Helical,Worm,and Bevel Gears：Design and Analysis185

7.1 Helical Gears on Parallel Shafts185

Helical Gear Tooth Contact187

Helical Gear Terminology and Geometry187

Normal Pitch and Normal Module187

Pressure Angle188

Center Distance188

Face Width189

Axial Pitch189

Contact Ratio and Axial Contact Ratio(Axial Overlap)189

Velocity Ratio of Helical Gears on Parallel Shafts190

Helical Gear Forces190

Eliminating Thrust with Herringbone Gears191

7.2 Crossed Helical Gears192

Crossed Helical Gear Geometry192

Center Distance193

Velocity Ratio of Crossed Helical Gears194

7.3 Worm Gears194

Worm Gear Terminology and Geometry195

Velocity Ratio of Worm Gear Sets with Perpendicular Shafts197

7.4 Bevel Gears198

Bevel Gear Terminology and Geometry198

Velocity Ratio of Bevel Gears200

Other Types of Bevel Gears201

Problems203

Bibliography and References204

CHAPTER 8 Drive Trains：Design and Analysis205

8.1 Introduction205

8.2 Velocity Ratios for Spur and Helical Gear Trains206

Spur Gear Trains206

Helical Gear Trains206

Worm Drives207

Idlers207

Reversing Direction208

Double Reductions209

8.3 Planetary Gear Trains211

Formula Method(Train Value Formulation Method)for Solving Planetary Trains211

Input and Output Shafts215

Tabular Analysis(Superposition)：An An Alternative Method for Analyzing of Planetary Trains215

Compound Planetary Trains218

Balanced Planetary Trains219

Planetary Differential Drives220

Tandem Planetary Trains222

Planetary Trains with More than One Input224

Differentials and Phase Shifters225

8.4 Other Drive Train Elements227

Chain Drives227

Belt Drives228

V Belt Drives229

Flat Belts229

Positive-Drive Belts229

Flexible-Spline Drives230

Problems233

Bibliography and References237

CHAPTER 9 Static-Force Analysis239

9.1 Introduction239

9.2 Graphical Force Analysis240

Graphical Force Analysis of the Slider-Crank Mechanism241

Graphical Foree Analysis of the Four-Bar Linkage242

9.3 Analytical Statics246

Static-Equilibrium Equations246

Analytical Solution for the Four-Bar Linkage247

9.4 Friction in Mechanisms251

Graphical Solution for a Slider-Crank Mechanism Including Friction254

Problems256

Bibliography and References260

CHAPTER 10 Dynamic-Force Analysis261

10.1 Introduction261

10.2 D'Alembert'S Principle and Inertial Forces262

Equivalent Offset Inertial Force264

10.3 Dynamic Analysis of the Four-Bar Linkage265

10.4 Dynamic Analysis of the Slider-Crank Mechanism269

Equivalent Inertia271

Approximate Dynamic Analysis Equations273

Dynamic-Force Analysis for an Assumed Motion of a Mechanism274

Dynamic-Motion Analysis for an Assumed Input Torque278

10.5 Balancing of Machinery280

10.6 Balancing of Rigid Rotors281

Static Balancing284

Dynamic Balancing286

10.7 Balancing of Reciprocating Machines289

Single-Cylinder Machines290

Problems292

Bibliography and References297

CHAPTER 11 Synthesis299

11.1 Type Synthesis300

11.2 Number Synthesis300

11.3 Two-Position Synthesis301

Graphical Solution301

Computer Solution301

Inaccessible Pivot Point303

11.4 Three-Position Synthesis Using a Four-Bar Linkage305

11.5 Design of a Function Generator：Dot-Product Method306

Selection of Precision Points310

11.6 Coupler Curves313

Problems318

Bibliography and References319

Partial Answers to Selected Problems321

Some Conversion Factors327

教学支持说明330