Kinematics and Dynamics of Machinery 机械原理PDF电子书下载

CHAPTER 1 Mechanisms and Machines：Basic Concepts 1

1.1 Introduction 1

1.2 Tools Available to the Designer of Linkages and Other Mechanisms 2

Hints for Effective Computer Use 2

Identifying a Need or a Problem 3

1.3 Systems of Units 3

Conversion Factors 4

1.4 Terminology and Definitions 5

Link 5

Frame 5

Joint or Kinematic Pair 5

Lower and Higher Pairs 5

Closed-Loop Kinematic Chains 8

Open-Loop Kinematic Chains 8

Manipulators 8

Robots 9

Linkage 9

Planar Motion and Planar Linkages 9

Spatial Morion and Spatial Linkages 9

Inversion 10

Cycle and Period 10

1.5 Degrees of Freedom(Mobility) 10

Constraints Due to Joints 10

Planar Linkages 12

Determination of Degrees of Freedom for a Planar Linkage 14

One-Degree-of-Freedom Configurations 15

1.6 Classification of Closed Planar Four-Bar Linkages：The Grashof Criterion 16

1.7 Transmission Angle 19

1.8 Limiting Positions of Slider-Crank Linkages 21

In-Line Slider-Crank Mechanisms 21

Offset Slider-Crank Mechanisms 22

1.9 Quick-Return Mechanisms 23

1.10 Linkage Interference 26

1.11 Mechanisms for Specific Applications 27

Slider-Crank Mechanism 27

Fluid Links 27

Gear Trains 27

Power Screws 28

Differential Screws 30

One-Way Clutches 31

Universal Joints 31

Automotive Steering Linkage 33

Computer-Controlled Industrial Robots 34

1.12 Computer-Aided Linkage Design 35

Research in Engineering Design Theory and Methodology 36

1.13 Mechanism Design Considerations 36

Problems 38

Bibliography and References 41

CHAPTER 2 Motion in Machinery：Positional Analysis of Planar Mechanisms 45

2.1 Motion 45

Examples of Rectilinear Morion：The Eccentric Cam and the Scotch Yoke 47

2.2 Vectors 48

Unit Vectors 48

Vector Components 49

2.3 Complex Numbers 50

Rectangular Form 50

Polar Form 50

Complex Arithmetic—Addition 51

Multiplication,Division,and Differentiation 51

2.4 Complex-Number Methods Applied to the Displacement Analysis of Linkages 52

Limiting Positions 54

Multiloop Linkages 55

Problems 55

Bibliography and References 56

CHAPTER 3 Velocity Analysis of Mechanisms 59

3.1 Basic Concepts 59

Velocity of a Point 60

Angular Velocity 61

Parameter Studies 64

3.2 Moving Coordinate Systems and Relative Velocity 65

Relative Velocity from Another Viewpoint 66

3.3 Complex-Number Methods Applied to Velocity Analysis 68

3.4 Graphical Analysis of Linkage Motion Utilizing Relative Velocity 71

Analyzing Motion of the In-Line Slider-Crank Mechanism 71

3.5 The Velocity Polygon 74

Velocity Image 77

3.6 Graphical Analysis of Basic Linkages 82

The Four-Bar Linkage 82

Analyzing Sliding Contact Linkages 83

Comparison of Results with an Analytical Solution 85

3.7 Analyzing Combinations of Basic Linkages 86

Toggle Linkage 86

Beam Pump 89

3.8 Centros 89

Kennedy's Theorem 90

Centros of a Four-Bar Linkage 90

Analyzing a Slider-Crank Mechanism 94

Problems 94

Bibliography and References 99

CHAPTER 4 Acceleration Analysis of Mechanisms 101

4.1 Basic Concepts 101

Acceleration of a Point 101

Angular Acceleration 102

Moving Coordinate Systems 102

Relative Acceleration 104

4.2 Complex-Number Methods Applied to Acceleration Analysis 105

Solving the Complex Acceleration Equation 106

4.3 The Acceleration Polygon 108

Analysis of Slider-Crank Mechanisms 108

Comparison with an Analytical Solution 111

Acceleration Image 112

Graphical Analysis of the Four-Bar Linkage 114

4.4 Graphical Analysis of Sliding Contact Linkages 116

Coriolis Acceleration 116

Comparison of Results with an Analytical Solution 120

4.5 Analyzing Combinations of Basic Linkages 120

Problems 123

Bibliography and References 125

CHAPTER 5 Design and Analysis of Cam-and-Follower Systems 127

5.1 Introduction 128

Some Applications of Cam-and-Follower Systems 128

Terminology 128

Disk Cam Design and Manufacture 129

5.2 Graphical Cam design 130

5.3 Cam Design in Terms of Follower Motion 132

Possible Forms of Follower Displacement 133

Uniform Motion 133

Parabolic Motion 133

Harmonic Motion 133

Follower Return 133

Problems with Harmonic and Parabolic Motion 134

Follower Motion for High-Speed Cams 135

5.4 Cycloidal Cams 136

Polynomial Motion 138

5.5 Design of Good High-Speed Polynomial Cams 138

5.6 Analytical Cam Design Based on the Theory of Envelopes 140

Theory of Envelopes 141

Disk Cam with Translating Flat-Faced Follower 142

Disk Cam with Translating Offset Roller Follower 144

Pressure Angle 146

Disk Cam with Rotating Flat-Faced Follower 147

Disk Cam with Rotating Roller Follower 149

Cam Curvature 150

Translating Flat-Faced Follower 151

Translating Roller Follower 151

5.7 Positive-Motion Cams 153

Face Cam 153

Constant-Breadth Cams 153

Conjugate Cams 154

Cylindrical Cams 154

Problems 154

Bibliography and References 155

CHAPTER 6 Spur Gears：Design and Analysis 157

6.1 Gear Types 157

6.2 Spur Gear Terminology 158

Backlash 160

6.3 Fundamental Law of Gearing 160

Conjugate Action and the Involute Curve 162

The Base Circle 162

The Line of Action 166

The Pressure Angle 166

Contact Length 168

Contact Ratio 170

6.4 Internal Gears 172

6.5 Standard Gears 172

6.6 Gear Manufacture 173

6.7 Sliding Action of Gear Teeth 177

6.8 Interference 178

Undercutting 181

Stub Teeth 182

Problems 182

Bibliography and References 183

CHAPTER 7 Helical,Worm,and Bevel Gears：Design and Analysis 185

7.1 Helical Gears on Parallel Shafts 185

Helical Gear Tooth Contact 187

Helical Gear Terminology and Geometry 187

Normal Pitch and Normal Module 187

Pressure Angle 188

Center Distance 188

Face Width 189

Axial Pitch 189

Contact Ratio and Axial Contact Ratio(Axial Overlap) 189

Velocity Ratio of Helical Gears on Parallel Shafts 190

Helical Gear Forces 190

Eliminating Thrust with Herringbone Gears 191

7.2 Crossed Helical Gears 192

Crossed Helical Gear Geometry 192

Center Distance 193

Velocity Ratio of Crossed Helical Gears 194

7.3 Worm Gears 194

Worm Gear Terminology and Geometry 195

Velocity Ratio of Worm Gear Sets with Perpendicular Shafts 197

7.4 Bevel Gears 198

Bevel Gear Terminology and Geometry 198

Velocity Ratio of Bevel Gears 200

Other Types of Bevel Gears 201

Problems 203

Bibliography and References 204

CHAPTER 8 Drive Trains：Design and Analysis 205

8.1 Introduction 205

8.2 Velocity Ratios for Spur and Helical Gear Trains 206

Spur Gear Trains 206

Helical Gear Trains 206

Worm Drives 207

Idlers 207

Reversing Direction 208

Double Reductions 209

8.3 Planetary Gear Trains 211

Formula Method(Train Value Formulation Method)for Solving Planetary Trains 211

Input and Output Shafts 215

Tabular Analysis(Superposition)：An An Alternative Method for Analyzing of Planetary Trains 215

Compound Planetary Trains 218

Balanced Planetary Trains 219

Planetary Differential Drives 220

Tandem Planetary Trains 222

Planetary Trains with More than One Input 224

Differentials and Phase Shifters 225

8.4 Other Drive Train Elements 227

Chain Drives 227

Belt Drives 228

V Belt Drives 229

Flat Belts 229

Positive-Drive Belts 229

Flexible-Spline Drives 230

Problems 233

Bibliography and References 237

CHAPTER 9 Static-Force Analysis 239

9.1 Introduction 239

9.2 Graphical Force Analysis 240

Graphical Force Analysis of the Slider-Crank Mechanism 241

Graphical Foree Analysis of the Four-Bar Linkage 242

9.3 Analytical Statics 246

Static-Equilibrium Equations 246

Analytical Solution for the Four-Bar Linkage 247

9.4 Friction in Mechanisms 251

Graphical Solution for a Slider-Crank Mechanism Including Friction 254

Problems 256

Bibliography and References 260

CHAPTER 10 Dynamic-Force Analysis 261

10.1 Introduction 261

10.2 D'Alembert'S Principle and Inertial Forces 262

Equivalent Offset Inertial Force 264

10.3 Dynamic Analysis of the Four-Bar Linkage 265

10.4 Dynamic Analysis of the Slider-Crank Mechanism 269

Equivalent Inertia 271

Approximate Dynamic Analysis Equations 273

Dynamic-Force Analysis for an Assumed Motion of a Mechanism 274

Dynamic-Motion Analysis for an Assumed Input Torque 278

10.5 Balancing of Machinery 280

10.6 Balancing of Rigid Rotors 281

Static Balancing 284

Dynamic Balancing 286

10.7 Balancing of Reciprocating Machines 289

Single-Cylinder Machines 290

Problems 292

Bibliography and References 297

CHAPTER 11 Synthesis 299

11.1 Type Synthesis 300

11.2 Number Synthesis 300

11.3 Two-Position Synthesis 301

Graphical Solution 301

Computer Solution 301

Inaccessible Pivot Point 303

11.4 Three-Position Synthesis Using a Four-Bar Linkage 305

11.5 Design of a Function Generator：Dot-Product Method 306

Selection of Precision Points 310

11.6 Coupler Curves 313

Problems 318

Bibliography and References 319

Partial Answers to Selected Problems 321

Some Conversion Factors 327

教学支持说明 330