Theory of machines and mechanisms / John J. Uicker, Gordon R. Pennock, Joseph E. Shigley.

Format:

Book

Author/Creator:

Uicker, John Joseph.

Contributor:

Pennock, G. R.

Shigley, Joseph Edward

Shigley, Joseph Edward.

Alumni and Friends Memorial Book Fund.

Language:

English

Subjects (All):

Mechanical engineering.

Physical Description:

xviii, 734 pages : illustrations ; 24 cm

Edition:

Third edition.

Place of Publication:

New York : Oxford University Press, [2003]

Contents:

Part 1 Kinematics and Mechanisms 1

1 The World of Mechanisms 3

1.2 Analysis and Synthesis 4

1.3 The Science of Mechanics 4

1.4 Terminology, Definitions, and Assumptions 5

1.5 Planar, Spherical, and Spatial Mechanisms 10

1.6 Mobility 11

1.7 Classification of Mechanisms 14

1.8 Kinematic Inversion 26

1.9 Grashof's Law 27

1.10 Mechanical Advantage 29

2 Position and Displacement 33

2.1 Locus of a Moving Point 33

2.2 Position of a Point 36

2.3 Position Difference Between Two Points 37

2.4 Apparent Position of a Point 38

2.5 Absolute Position of a Point 39

2.6 The Loop-Closure Equation 41

2.7 Graphic Position Analysis 45

2.8 Algebraic Position Analysis 51

2.9 Complex-Algebra Solutions of Planar Vector Equations 55

2.10 Complex Polar Algebra 57

2.11 Position Analysis Techniques 60

2.12 The Chace Solutions to Planar Vector Equations 64

2.13 Coupler-Curve Generation 68

2.14 Displacement of a Moving Point 70

2.15 Displacement Difference Between Two Points 71

2.16 Rotation and Translation 72

2.17 Apparent Displacement 74

2.18 Absolute Displacement 75

3 Velocity 79

3.2 Rotation of a Rigid Body 80

3.3 Velocity Difference Between Points of a Rigid Body 82

3.4 Graphic Methods; Velocity Polygons 85

3.5 Apparent Velocity of a Point in a Moving Coordinate System 92

3.6 Apparent Angular Velocity 97

3.7 Direct Contact and Rolling Contact 98

3.8 Systematic Strategy for Velocity Analysis 99

3.9 Analytic Methods 100

3.10 Complex-Algebra Methods 101

3.11 The Method of Kinematic Coefficients 105

3.12 The Vector Method 116

3.13 Instantaneous Center of Velocity 117

3.14 The Aronhold-Kennedy Theorem of Three Centers 119

3.15 Locating Instant Centers of Velocity 120

3.16 Velocity Analysis Using Instant Centers 123

3.17 The Angular-Velocity-Ratio Theorem 126

3.18 Relationships Between First-Order Kinematic Coefficients and Instant Centers 127

3.19 Freudenstein's Theorem 129

3.20 Indices of Merit; Mechanical Advantage 130

3.21 Centrodes 133

4 Acceleration 141

4.2 Angular Acceleration 144

4.3 Acceleration Difference Between Points of a Rigid Body 144

4.4 Acceleration Polygons 151

4.5 Apparent Acceleration of a Point in a Moving Coordinate System 155

4.6 Apparent Angular Acceleration 163

4.7 Direct Contact and Rolling Contact 164

4.8 Systematic Strategy for Acceleration Analysis 167

4.9 Analytic Methods 168

4.10 Complex-Algebra Methods 169

4.11 The Method of Kinematic Coefficients 171

4.12 The Chace Solutions 175

4.13 The Instant Center of Acceleration 177

4.14 The Euler-Savary Equation 178

4.15 The Bobillier Constructions 183

4.16 Radius of Curvature of a Point Trajectory Using Kinematic Coefficients 187

4.17 The Cubic of Stationary Curvature 188

Part 2 Design of Mechanisms 195

5 Cam Design 197

5.2 Classification of Cams and Followers 198

5.3 Displacement Diagrams 200

5.4 Graphical Layout of Cam Profiles 203

5.5 Kinematic Coefficients of the Follower Motion 207

5.6 High-Speed Cams 211

5.7 Standard Cam Motions 212

5.8 Matching Derivatives of the Displacement Diagrams 222

5.9 Plate Cam with Reciprocating Flat-Face Follower 225

5.10 Plate Cam with Reciprocating Roller Follower 230

6 Spur Gears 252

6.1 Terminology and Definitions 252

6.2 Fundamental Law of Toothed Gearing 255

6.3 Involute Properties 256

6.4 Interchangeable Gears; AGMA Standards 257

6.5 Fundamentals of Gear-Tooth Action 259

6.6 The Manufacture of Gear Teeth 262

6.7 Interference and Undercutting 265

6.8 Contact Ratio 268

6.9 Varying the Center Distance 270

6.10 Involutometry 271

6.11 Nonstandard Gear Teeth 274

7 Helical Gears 286

7.1 Parallel-Axis Helical Gears 286

7.2 Helical Gear Tooth Relations 287

7.3 Helical Gear Tooth Proportions 289

7.4 Contact of Helical Gear Teeth 290

7.5 Replacing Spur Gears with Helical Gears 291

7.6 Herringbone Gears 292

7.7 Crossed-Axis Helical Gears 292

8 Bevel Gears 297

8.1 Straight-Tooth Bevel Gears 297

8.2 Tooth Proportions for Bevel Gears 301

8.3 Crown and Face Gears 302

8.4 Spiral Bevel Gears 303

8.5 Hypoid Gears 304

9 Worms and Worm Gears 306

10 Mechanism Trains 311

10.1 Parallel-Axis Gear Trains 311

10.2 Examples of Gear Trains 313

10.3 Determining Tooth Numbers 314

10.4 Epicyclic Gear Trains 315

10.5 Bevel Gear Epicyclic Trains 317

10.6 Analysis of Planetary Gear Trains by Formula 317

10.7 Tabular Analysis of Planetary Gear Trains 319

10.8 Adders and Differentials 323

10.9 All Wheel Drive Train 327

11 Synthesis of Linkages 332

11.1 Type, Number, and Dimensional Synthesis 332

11.2 Function Generation, Path Generation, and Body Guidance 333

11.3 Two-Position Synthesis of Slider-Crank Mechanisms 333

11.4 Two-Position Synthesis of Crank-and-Rocker Mechanisms 334

11.5 Crank-Rocker Mechanisms with Optimum Transmission Angle 335

11.6 Three-Position Synthesis 338

11.7 Four-Position Synthesis; Point-Precision Reduction 339

11.8 Precision Positions; Structural Error; Chebychev Spacing 341

11.9 The Overlay Method 343

11.10 Coupler-Curve Synthesis 344

11.11 Cognate Linkages; The Roberts-Chebychev Theorem 348

11.12 Bloch's Method of Synthesis 350

11.13 Freudenstein's Equation 352

11.14 Analytic Synthesis Using Complex Algebra 356

11.15 Synthesis of Dwell Mechanisms 360

11.16 Intermittent Rotary Motion 361

12 Spatial Mechanisms 368

12.2 Exceptions in the Mobility of Mechanisms 369

12.3 The Position-Analysis Problem 373

12.4 Velocity and Acceleration Analyses 378

12.5 The Eulerian Angles 384

12.6 The Denavit-Hartenberg Parameters 387

12.7 Transformation-Matrix Position Analysis 389

12.8 Matrix Velocity and Acceleration Analyses 392

12.9 Generalized Mechanism Analysis Computer Programs 397

13 Robotics 403

13.2 Topological Arrangements of Robotic Arms 404

13.3 Forward Kinematics 407

13.4 Inverse Position Analysis 411

13.5 Inverse Velocity and Acceleration Analyses 414

13.6 Robot Actuator Force Analyses 418

Part 3 Dynamics of Machines 423

14 Static Force Analysis 425

14.2 Newton's Laws 427

14.3 Systems of Units 428

14.4 Applied and Constraint Forces 429

14.5 Free-Body Diagrams 432

14.6 Conditions for Equilibrium 433

14.7 Two- and Three-Force Members 435

14.8 Four-Force Members 443

14.9 Friction-Force Models 445

14.10 Static Force Analysis with Friction 448

14.11 Spur- and Helical-Gear Force Analysis 451

14.12 Straight-Bevel-Gear Force Analysis 457

14.13 The Method of Virtual Work 461

15 Dynamic Force Analysis (Planar) 470

15.2 Centroid and Center of Mass 470

15.3 Mass Moments and Products of Inertia 475

15.4 Inertia Forces and D'Alembert's Principle 478

15.5 The Principle of Superposition 485

15.6 Planar Rotation About a Fixed Center 489

15.7 Shaking Forces and Moments 492

15.8 Complex Algebra Approach 492

15.9 Equation of Motion 502

16 Dynamic Force Analysis (Spatial) 515

16.2 Measuring Mass Moment of Inertia 515

16.3 Transformation of Inertia Axes 519

16.4 Euler's Equations of Motion 523

16.5 Impulse and Momentum 527

16.6 Angular Impulse and Angular Momentum 528

17 Vibration Analysis 542

17.1 Differential Equations of Motion 542

17.2 A Vertical Model 546

17.3 Solution of the Differential Equation 547

17.4 Step Input Forcing 551

17.5 Phase-Plane Representation 553

17.6 Phase-Plane Analysis 555

17.7 Transient Disturbances 559

17.8 Free Vibration with Viscous Damping 563

17.9 Damping Obtained by Experiment 565

17.10 Phase-Plane Representation of Damped Vibration 567

17.11 Response to Periodic Forcing 571

17.12 Harmonic Forcing 574

17.13 Forcing Caused by

Unbalance 579

17.14 Relative Motion 580

17.15 Isolation 580

17.16 Rayleigh's Method 583

17.17 First and Second Critical Speeds of a Shaft 586

17.18 Torsional Systems 592

18 Dynamics of Reciprocating Engines 598

18.1 Engine Types 598

18.2 Indicator Diagrams 603

18.3 Dynamic Analysis

General 606

18.4 Gas Forces 606

18.5 Equivalent Masses 609

18.6 Inertia Forces 610

18.7 Bearing Loads in a Single-Cylinder Engine 613

18.8 Crankshaft Torque 616

18.9 Engine Shaking Forces 616

19 Balancing 621

19.1 Static Unbalance 621

19.2 Equations of Motion 622

19.3 Static Balancing Machines 624

19.4 Dynamic Unbalance 626

19.5 Analysis of Unbalance 627

19.6 Dynamic Balancing 635

19.7 Balancing Machines 638

19.8 Field Balancing with a Programmable Calculator 640

19.9 Balancing a Single-Cylinder Engine 643

19.10 Balancing Multicylinder Engines 647

19.11 Analytical Technique for Balancing Multicylinder Reciprocating Engines 651

19.12 Balancing Linkages 656

19.13 Balancing of Machines 661

20 Cam Dynamics 665

20.1 Rigid- and Elastic-Body Cam Systems 665

20.2 Analysis of an Eccentric Cam 666

20.3 Effect of Sliding Friction 670

20.4 Analysis of Disk Cam with Reciprocating Roller Follower 671

20.5 Analysis of Elastic Cam Systems 673

20.6 Unbalance, Spring Surge, and Windup 675

21 Flywheels 678

21.1 Dynamic Theory 678

21.2 Integration Technique 680

21.3 Multicylinder Engine Torque Summation 682

22 Governors 685

22.1 Classification 685

22.2 Centrifugal Governors 686

22.3 Inertia Governors 687

22.4 Mechanical Control Systems 687

22.5 Standard Input Functions 689

22.6 Solution of Linear Differential Equations 690

22.7 Analysis of Proportional-Error Feedback Systems 695

23 Gyroscopes 699

23.2 The Motion of a Gyroscope 700

23.3 Steady or Regular Precession 701

23.4 Forced Precession 704

Table 1 Standard SI Prefixes 712

Table 2 Conversion from U.S. Customary Units to SI Units 713

Table 3 Conversion from SI Units to U.S. Customary Units 713

Table 4 Properties of Areas 714

Table 5 Mass Moments of Inertia 715

Table 6 Involute Function 716.

Notes:

First-second eds. by Joseph E. Shigley.

Local Notes:

Acquired for the Penn Libraries with assistance from the Alumni and Friends Memorial Book Fund.

Related Work:

Shigley, Joseph Edward. Theory of machines and mechanisms http://viaf.org/viaf/10145910978027060346

ISBN:

019515598X

OCLC:

49320553