Kinematics, Dynamics, and Design of Machinery

Kinematics, Dynamics, and Design of Machinery, Third Edition, presents a fresh approach to kinematic design and analysis and is an ideal textbook for senior undergraduates and graduates in mechanical, automotive and production engineering

• Presents the traditional approach to the design and analysis of kinematic problems and shows how GCP can be used to solve the same problems more simply

• Provides a new and simpler approach to cam design

• Includes an increased number of exercise problems

• Accompanied by a website hosting a solutions manual, teaching slides and MATLAB programs

Autorentext

Kenneth Waldron is Professor at the University of Technology, Sydney and Professor Emeritus of Stanford University. He has taught subjects in machine design and engineering mechanics over a career spanning more than forty years. He has also conducted research in kinematics of machinery, robotics, biomechanics and machine dynamics. He has received a number of awards including the American Society of Mechanical Engineers (ASME) Machine Design, Leonardo da Vinci and Ruth and Joel Spira Outstanding Design Educator Awards, and the Robotics Industries Association Joseph Engelberger Award.
Professor Waldron has served as the Technical Editor of the ASME Transactions Journal of Machine Design. He served two terms as President of IFToMM, the International Federation for the Promotion of Machine and Mechanism Science, as well as holding many offices within ASME.
Professor Waldron is excited by the many new developments in the field and the challenge of keeping this book up to date. Gary Kinzel is an emeritus professor in the Department of Mechanical and Aerospace Engineering at The Ohio State University. He received his PhD from Purdue in 1973. After graduation, he worked for six years at Battelle and was a regular faculty member at Ohio State until he retired in 2011. His research was in design, education, and manufacturing. He has more than 150 research publications, has coauthored two books, has one patent, and has supervised to completion the research of more than one hundred graduate students. He taught courses in machine design, kinematics, stress analysis and form synthesis and received ten research and teaching awards, including the OSU Alumni Teaching Award, the ASME Ruth and Joel Spira Outstanding Design Educator Award, and the ASEE Ralph Coates Roe Award. Sunil Agrawal has authored more than 175 archival journal papers, 225 refereed conference papers, 2 books, and 13 US patents. His work is well cited by the research community and can be viewed at Google Scholar at (scholar.google.com/citations). He has graduated 20 PhD and 25 MS students. Currently, there are 10 PhD students working under his guidance.

Zusammenfassung
Kinematics, Dynamics, and Design of Machinery, Third Edition, presents a fresh approach to kinematic design and analysis and is an ideal textbook for senior undergraduates and graduates in mechanical, automotive and production engineering

• Presents the traditional approach to the design and analysis of kinematic problems and shows how GCP can be used to solve the same problems more simply
• Provides a new and simpler approach to cam design
• Includes an increased number of exercise problems
• Accompanied by a website hosting a solutions manual, teaching slides and MATLAB® programs

Inhalt
Preface xiii

1 Introduction 1

1.1 Historical Perspective, 1

1.2 Kinematics, 3

1.3 Design: Analysis and Synthesis, 4

1.4 Mechanisms, 4

1.5 Planar Linkages, 6

1.6 Visualization, 9

1.7 Constraint Analysis, 12

1.8 Constraint Analysis of Spatial Linkages, 18

1.9 Idle Degrees of Freedom, 22

1.10 Overconstrained Linkages, 24

1.11 Uses of the Mobility Criterion, 28

1.12 Inversion, 28

1.13 Reference Frames, 29

1.14 Motion Limits, 30

1.15 Continuously Rotatable Joints, 31

1.16 Coupler-Driven Linkages, 35

1.17 Motion Limits for Slider-Crank Mechanisms, 35

1.18 Interference, 38

1.19 Practical Design Considerations, 41

References, 44

Problems, 45

2 Techniques in Geometric Constraint Programming 59

2.1 Introduction, 59

2.2 Geometric Constraint Programming, 60

2.3 Constraints and Program Structure, 61

2.4 Initial Setup for a GCP Session, 64

2.5 Drawing a Basic Linkage Using GCP, 66

2.6 Troubleshooting Graphical Programs Developed Using GCP, 79

References, 80

Problems, 81

Appendix 2A Drawing Slider Lines, Pin Bushings, and Ground Pivots, 85

2A.1 Slider Lines, 85

2A.2 Pin Bushings and Ground Pivots, 87

Appendix 2B Useful Constructions When Equation Constraints Are Not Available, 88

2B.1 Constrain Two Angles to Be Integral Multiples of Another Angle, 89

2B.2 Constrain a Line to Be Half the Length of Another Line, 89

2B.3 Construction for Scaling, 90

2B.4 Construction for Square Ratio v2/r, 91

2B.5 Construction for Function x ˆ yz=r, 91

3 Planar Linkage Design 93

3.1 Introduction, 93

3.2 Two-Position Double-Rocker Design, 96

3.3 Synthesis of Crank-Rocker Linkages for Specified Rocker Amplitude, 100

3.4 Motion Generation, 114

3.5 Path Synthesis, 133

References, 148

Problems, 150

4 Graphical Position, Velocity, and Acceleration Analysis for Mechanisms with Revolute Joints or Fixed Slides 169

4.1 Introduction, 169

4.2 Graphical Position Analysis, 170

4.3 Planar Velocity Polygons, 171

4.4 Graphical Acceleration Analysis, 173

4.5 Graphical Analysis of a Four-Bar Mechanism, 175

4.6 Graphical Analysis of a Slider-Crank Mechanism, 183

4.7 Velocity Image Theorem, 186

4.8 Acceleration Image Theorem, 189

4.9 Solution by Geometric Constraint Programming, 194

References, 205

Problems, 205

5 Linkages with Rolling and Sliding Contacts, and Joints on Moving Sliders 221

5.1 Introduction, 221

5.2 Reference Frames, 222

5.3 General Velocity and Acceleration Equations, 223

5.4 Special Cases for the Velocity and Acceleration Equations, 228

5.5 Linkages with Rotating Sliding Joints, 230

5.6 Rolling Contact, 235

5.7 Cam Contact, 243

5.8 General Coincident Points, 250

5.9 Solution by Geometric Constraint Programming, 257

Problems, 263

6 Instant Centers of Velocity 279

6.1 Introduction, 279

6.2 Definition, 280

6.3 Existence Proof, 280

6.4 Location of an Instant Center from the Directions of Two Velocities, 281

6.5 Instant Center at a Revolute Joint, 282

6.6 Instant Center of a Curved Slider, 282

6.7 Instant Center of a Prismatic Joint, 282

6.8 Instant Center of a Rolling Contact Pair, 282

6.9 Instant Center of a General Cam-Pair Contact, 282

6.10 Centrodes, 283

6.11 The Kennedy-Aronhold Theorem, 285

6.12 Circle Diagram as a Strategy for Finding Instant Centers, 287 6.13 Using Instant Centers to Find Velocities: The Rotating-Radius Method, ...