《Design and manufacturing（ME371、ME337）》课程教学资源（参考教材）《Design Of Machinery》（Robert Norton，2Nd Edition）

DESIGN OF MACHINERY AN INTRODUCTION TO THE SYNTHESIS AND ANALYSIS OF MECHANISMS AND MACHINES Second Edition Robert L.Norton Worcester Polytechnic Institute Worcester,Massachusetts WCB raw Hi"McGraw-Hill Boston Burr Ridge,IL Dubuque,IA Madison,WI New York San Francisco St.Louis Bangkok Bogota Caracas Lisbon London Madrid Mexico City Milan New Delhi Seoul Singapore Sydney Taipei Toronto

WCB/McGraw-Hill A Division of The McGraw-Hill Companies DESIGN OF MACHINERY: An Introduction to the Synthesis and Analysis of Mechanisms and Machines Copyright 1999 by MeGraw-Hill Inc.All rights reserved.Previous edition 1992.Printed in the United States of America.Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means,or stored in a database or retrieval system,without the prior written permission of the publisher. This book is printed on acid-free paper I234567890QPF/QP℉I098 ISBN0-07-048395-7 ISBN0-07-913272-3(set) ISBN0-04-847978-9(CD-ROM Vice president and editorial director: Kevin T.Kane Publisher:Ibomas Casson Senior sponsoring editor:Debra Riegert Developmental editor:Holly Stark Marketing manager:John T.Wannemacher Project manager:Christina Thomton-Villagomez Production supervisor:Michael R.McCormick Supplement Coordinator:Marc Mattson Cover Design:Gino Cieslik Book design:Wanda Siedlecka Printer:Quebecor Printing Book Group/Fairfield Cover photo:Viper cutaway courtesy of the Chrysler Corporation,Auburn Hills,MI. All text,drawings.and equations in this book were prepared and typeset electronically,by the author,on a Mocintosh computer using Freehan-MathTypeR,and PagemakerB desktop publishing software.The body text was set in Times Roman,and headings set in Avant Garde Printer's film color separations were made on a laser typesetter directly from the author's disks. All clip art illustrations are courtesy of Dubl-Click Soffware Inc..22521 Styles St.,Woodland Hills CA 91367.reprinted from their Industrial Revolution and Old Earth Almanac series with their permission (and with the author's thanks). Library of Congress Cataloging-in-Publication Data Norton,Robert L. Design of machinery:an introduction to the synthesis and analysis of mechanisms and machines Robert L.Norton -2nd ed. p.cm.-(McGraw-Hill series in mechanical engineering) Includes bibliographical references and index. ISBN0-07-048395-7 1.Machinery-Design. 2.Machinery,Kinematics. 3.Machinery, Dynamics of. I.Title. II.Series. TJ230.N631999 91-7510 621.815-dc20 http://www.mhhe.com

DESIGN OF MACHINERY: An Introduction to the Synthesis and Analysis of Mechanisms and Machines Copyright © 1999 by McGraw-Hill Inc. All rights reserved. Previous edition © 1992. Printed in the United States of America. Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a database or retrieval system, without the prior written permission of the publisher. This book is printed on acid-free paper. I 2 3 4 5 6 7 8 9 0 QPF/QPF I 0 9 8 ISBN 0-07-048395-7 ISBN 0-07-913272-3 (set) ISBN 0-04-847978-9 (CD-ROM) Vice president and editorial director: Kevin T. Kane Publisher: 1bomas Casson Senior sponsoring editor: Debra Riegert Developmental editor: Holly Stark Marketing manager: John T. Wannemacher Project manager: Christina Thomton- Villagomez Production supervisor: Michael R. McCormick Supplement Coordinator: Marc Mattson Cover Design: Gino Cieslik Book design: Wanda Siedlecka Printer: Quebecor Printing Book Group/Fairfield Cover photo: Viper cutaway courtesy of the Chrysler Corporation, Auburn Hills, MI. All text, drawings. and equations in this book were prepared and typeset electronically, by the author, on a Mocintosh® computer using Freehan~, MathType®, and Pagemaker® desktop publishing software. The body text was set in Times Roman, and headings set in Avant Garde. Printer's film color separations were made on a laser typesetter directly from the author's disks. All clip art illustrations are courtesy of Dubl-Click Software Inc., 22521 Styles St., Woodland Hills CA 91367. reprinted from their Industrial Revolution and Old Earth Almanac series with their permission (and with the author's thanks). Library of Congress Cataloging-in-Publication Data Norton, Robert L. Design of machinery: an introduction to the synthesis and analysis of mechanisms and machines / Robert L. Norton - 2nd ed. p. cm. --{McGraw-Hill series in mechanical engineering) Includes bibliographical references and index. ISBN 0-07-048395-7 1. Machinery-Design. 2. Machinery, Kinematics. 3. Machinery, Dynamics of. I. Title. II. Series. TJ230.N63 1999 91-7510 621.8'15-dc20 http://www.mhhe.com

ABOUT THE AUTHOR Robert L.Norton earned undergraduate degrees in both mechanical engineering and in- dustrial technology at Northeastern University and an MS in engineering design at Tufts University.He is a registered professional engineer in Massachusetts and New Hamp- shire.He has extensive industrial experience in engineering design and manufacturing and many years experience teaching mechanical engineering,engineering design,com- puter science,and related subjects at Northeastern University,Tufts University,and Worcester Polytechnic Institute.At Polaroid Corporation for ten years,he designed cam- eras,related mechanisms,and high-speed automated machinery.He spent three years at Jet Spray Cooler Inc.,Waltham,Mass.,designing food-handling machinery and prod- ucts.For five years he helped develop artificial-heart and noninvasive assisted-circula- tion (counterpulsation)devices at the Tufts New England Medical Center and Boston City Hospital.Since leaving industry to join academia,he has continued as an indepen- dent consultant on engineering projects ranging from disposable medical products to high-speed production machinery.He holds 13 U.S.patents. Norton has been on the faculty of Worcester Polytechnic Institute since 1981 and is currently professor of mechanical engineering and head of the design group in that de- partment.He teaches undergraduate and graduate courses in mechanical engineering with emphasis on design,kinematics,and dynamics of machinery.He is the author of numerous technical papers and journal articles covering kinematics,dynamics of machin- ery,carn design and manufacturing,computers in education,and engineering education and of the text Machine Design:An Integrated Approach.He is a Fellow of the Ameri- can Society of Mechanical Engineers and a member of the Society of Automotive Engi- neers.Rumors about the transplantation of a Pentium microprocessor into his brain are decidedly untrue (though he could use some additional RAM).As for the unobtainium* ring,well,that's another story. See Index

ABOUT THE AUTHOR Robert L. Norton earned undergraduate degrees in both mechanical engineering and in￾dustrial technology at Northeastern University and an MS in engineering design at Tufts University. He is a registered professional engineer in Massachusetts and New Hamp￾shire. He has extensive industrial experience in engineering design and manufacturing and many years experience teaching mechanical engineering, engineering design, com￾puter science, and related subjects at Northeastern University, Tufts University, and Worcester Polytechnic Institute. At Polaroid Corporation for ten years, he designed cam￾eras, related mechanisms, and high-speed automated machinery. He spent three years at Jet Spray Cooler Inc., Waltham, Mass., designing food-handling machinery and prod￾ucts. For five years he helped develop artificial-heart and noninvasive assisted-circula￾tion (counterpulsation) devices at the Tufts New England Medical Center and Boston City Hospital. Since leaving industry to join academia, he has continued as an indepen￾dent consultant on engineering projects ranging from disposable medical products to high-speed production machinery. He holds 13 U.S. patents. Norton has been on the faculty of Worcester Polytechnic Institute since 1981 and is currently professor of mechanical engineering and head of the design group in that de￾partment. He teaches undergraduate and graduate courses in mechanical engineering with emphasis on design, kinematics, and dynamics of machinery. He is the author of numerous technical papers and journal articles covering kinematics, dynamics of machin￾ery, carn design and manufacturing, computers in education, and engineering education and of the text Machine Design: An Integrated Approach. He is a Fellow of the Ameri￾can Society of Mechanical Engineers and a member of the Society of Automotive Engi￾neers. Rumors about the transplantation of a Pentium microprocessor into his brain are decidedly untrue (though he could use some additional RAM). As for the unobtainium* ring, well, that's another story. * See Index

Thisbook isdedicated to the memory of my father, Harry J.Norton,Sr. who sparked a young boy's interest in engineering; to the memory of my mother, Kathryn W Norton who made it all possible; to my wife, Nancy Norton who provides unflagging patience and supprt; and to my children, Robert,Mary,and Thomas, who make it all worthwhile

Thisbook isdedicated to the memory of my father, Harry J. Norton, Sr. who sparked a young boy's interest in engineering; to the memory of my mother, Kathryn W Norton who made it all possible; to my wife, Nancy Norton who provides unflagging patience and supp~rt; and to my children, Robert, Mary, and Thomas, who make it all worthwhile

CONTENTS Preface to the Second Edition XVIⅦ Preface to the First Edition XIX PARTI KINEMATICS OF MECHANISMS 1 Chapter 1 Introduction..3 1.0 Purpose 3 1.1 Kinematics and Kinetics 1.2 Mechanisms and Machines 4 1.3 A Brief History of Kinematics 1.4 Applications of Kinematics 6 1.5 The Design Process 7 Design,Invention,Creativity .7 Identification of Need ....... .8 Background Research… 9 Goal Statement Performance Specifications 9 ldeation and Invention 70 Analysis ... 77 Selection.. 72 Detailed Design Prototyping and Testing. 7 Production..… 13 1.6 Other Approaches to Design.....… 14 Axiomatic Design.......... .…75 1.7 Multiple Solutions 15 1.8 Human Factors Engineering .15 1.9 The Engineering Report 16 1.10 Units....... 16 1.11 What's to Come "18 1.12 References 19 1.13 Bibliography 20 Chapter 2 Kinematics Fundamentals. 22 2.0 Introduction 22 2.1 Degrees of Freedom 22 2.2 Types of Motion 23 2.3 Links,Joints,and Kinematic Chains 24 2.4 Determining Degree of Freedom 4.04h4.4…040404.4…0…044…0…04044…0…04044…0。 t4 28 Degree of Freedom in Planar Mechanisms............... .29 Degree of Freedom in Spatial Mechanisms...................... 小 32 2.5 Mechanisms and Structures 4小小小4小4小小44小 32 2.6 Number Synthesis 韩 33 2.7 Paradoxes 44404h+0+4440。h+0+4440.0+4+4+=044+444+…044+4+-+。044+4+-+。444+4+4+44444.44++4444.44+44444.44++444.44+40 37 2.8 Isomers 38 2.9 Linkage Transformation h4++040+44-h。+0+4-h。+0+44-h。+0+44-h-+e+44-e4+4-+。e4++44-。0++44。e4+4 40 2.10 Intermittent Motion 42 2.11 Inversion 44

CONTENTS Preface to the Second Edition ................................................................................... XVII Preface to the First Edition ........................................................................................... XIX PART I KINEMATICS OF MECHANISMS 1 Chapter 1 Introduction ............................................................................. 3 1.0 Purpose .............................................................................................................. 3 1.1 Kinematics and Kinetics ................................................................................. 3 1.2 Mechanisms and Machines ........................................................................... 4 1.3 A Brief History of Kinematics .......................................................................... 5 1.4 Applications of Kinematics ............................................................................ 6 1.5 The Design Process ............ ,............................................................................. 7 Design, Invention, Creativity ....................................................................... 7 Identification of Need ................................................................................. 8 Background Research .....................................................................··········· 9 Goal Statement ........................................................................................... 9 Performance Specifications ....................................................................... 9 Ideation and Invention ............................................................................. 70 Analysis ....................................................................................................... 7 7 Selection ..................................................................................................... 72 Detailed Design ................................................................................········· 73 Prototyping and Testing ............................................................................ 73 Production .................................................................................................. 73 1.6 Other Approaches to Design .......................... " ................ " ........" .............. 14 Axiomatic Design ...................................................................................···· 75 1.7 Multiple Solutions ................................................ ,.......................................... 15 1.8 Human Factors Engineering ............................ " .............. " .................... " .... 15 1.9 The Engineering Report ................. " ............................................................. 16 1.10 Units ..................................... " ........................................................................... 16 1.11 What's to Come ........................................................................................... " 18 1.12 References ........................................................... ,.......................................... 19 1.13 Bibliography ....................... " ................................ ,.......................................... 20 Chapter 2 Kinematics Fundamentals .................................................. 22 2.0 Introduction ......................................................... ,........................ " ......... " ..... 22 2.1 Degrees of Freedom ..................................................................................... 22 2.2 Types of Motion ................. " ........................................................................... 23 2.3 Links, Joints, and Kinematic Chains ............................................................ 24 2.4 Determining Degree of Freedom ............................................. " ................ 28 Degree of Freedom in Planar Mechanisms ... ............ ......... ...... 29 Degree of Freedom in Spatial Mechanisms .. ....... .... ......... ..... 32 2.5 Mechanisms and Structures ......................................................................... 32 2.6 Number Synthesis ....................................................... " ........................ " ........ 33 2.7 Paradoxes ....................................................................................................... 37 2.8 Isomers ............................................................................................................. 38 2.9 Linkage Transformation ................................................................................ 40 2.10 Intermittent Motion ................. " ..................................................................... 42 2.11 Inversion .......................................................................................................... 44

X DESIGN OF MACHINERY CONTENTS 2.12 The Grashof Condition 46 Classification of the Fourbar Linkage 49 2.13 Linkages of More Than Four Bars..... 52 Geared Fivebar Linkages Sixbar Linkages… 53 Grashof-type Rotatability Criteria for Higher-order Linkages ...............53 2.14 Springs as Links ......... 54 2.15 Practical Considerations 55 Pin Joints versus Slidersand Half Joints 55 Cantilever versus Straddle Mount ...... .57 Short Links 58 Linkages versusCans 59. 2.16 Motor and Drives 60 Electric Motexs 60 Air and HyaotAc Air and Hyc:kotAc Cyilders 65 Solenoids 66 2.17 References 66 2.18 Problems 67 Chapter 3 Graphical Linkage Synthesis..... 76 3.0 Introduction 76 3.1 Synthesis 76 3.2 Function. Path.and Motion Generation 78 3.3 limiting Conditions 80 3.4 Dimensional Synthesis 82 Two-Posiffon Synthesis.83 TPYR Synthesis with Specified Moving Pivots 89 1hree-Position Synthesis with Alternate Moving Pivots...................90 TPYee-PositiorSynthesis with Specified Fixed Pivots... 93 Position Synthesis for More Than Three Positions. 97 3.5 Quick-Retum Mechanisms 97 Fou'bar Quick-Return ......... 98 SbcbarQuick-Return .700 3.6 Coupler Curves 103 3.7 Cognates 112 Parallel Motion.777 Geared Rvebar Cognates of the Fourbar........................ 779 3.8 Straight-Line Mechanisms 120 Designing Optimum Straight-Line Fourbar Linkages ............... 722 3.9 Dwell Mechanisms 125 Single-Dwell Linkages 726 Double-Dwell Linkages...28 3.10 References 130 3.11 Bibliography 131 3.12 Problems 132 3.13 Projects 140 Chapter 4 Position Analysis 144 4.0 Introduction 144 4.1 Coordinate Systems 146 4.2 Position and Displacement 147 Position ....... 747 Displacement 747

2.12 The Grashof Condition .................................................................................. 46 Classification of the Fourbar Linkage ...................................................... 49 2.13 Linkages of More Than Four Bars ................................................................. 52 Geared Fivebar Linkages ......................................................................... 52 Sixbar Linkages ........................................................................................... 53 Grashof-type Rotatability Criteria for Higher-order Linkages ................ 53 2.14 Springs as Links ............................................................................................... 54 2.15 Practical Considerations .............................................................................. 55 Pin Joints versusSlidersand Half Joints .................................................... 55 Cantilever versusStraddle Mount ............................................................ 57 Short Links ................................................................................................ 58 Bearing Ratio .............................................................................................. 58 Linkages versusCans ............................................................................... 59 2.16 Motor and Drives ........................................................................................... 60 Electric Motexs ........................................................................................... 60 Air and HyaotAc Motexs .......................................................................... 65 Air and Hyc:kotAc CyiIders ...................................................................... 65 Solenoids ................................................................................................. 66 2.17 References ...................................................................................................... 66 2.18 Problems .......................................................................................................... 67 Chapter 3 Graphical Linkage Synthesis.............................................. 76 3.0 Introduction .................................................................................................... 76 3.1 Synthesis .......................................................................................................... 76 3.2 Function. Path. and Motion Generation ................................................... 78 3.3 limiting Conditions ....................................................................................... ,80 3.4 Dimensional Synthesis ................. ,.......,........................... ,............................. 82 Two-Posiffon Synthesis................................................................................ 83 TPY~n Synthesis with Specified Moving Pivots ........................... 89 1hree-Position Synthesis with Alternate Moving Pivots ........................... 90 TPYee-PositionSynthesis with Specified Fixed Pivots ............................... 93 Position Synthesis for More Than Three Positions ..................................... 97 3.5 Quick-Return Mechanisms ............................ ,............................................. ,97 Fou'bar Quick-Return ................................................................................ 98 SbcbarQuick-Return ................................................................................. 700 3.6 Coupler Curves ............................................ " .................. ,.......................... 103 3.7 Cognates .................................... " ........" .....", ......." ........" ........" ......." ....... 112 Parallel Motion ......................................................................................... 777 Geared Rvebar Cognates of the Fourbar ............................................ 779 3.8 Straight-Line Mechanisms .,......,........", ........................ " ......................... " 120 Designing Optimum Straight-Line Fourbar Linkages ............................ 722 3.9 Dwell Mechanisms ............ ,................. ,....... ,.................. ,.......................... " 125 Single-Dwell Linkages .............................................................................. 726 Double-Dwell Linkages ............................................................................ 728 3.10 References ............................................................. ,........... ,........ ,.............. " 130 3.11 Bibliography .......................... ,......,.......,.......................... ", ................. ,........ 131 3.12 Problems ............................ " ......,.................................................................. 132 3.13 Projects ........................................................................ ,................................ 140 Chapter 4 Position Analysis................................................................. 144 4.0 Introduction .............. ,.................. ,.......,......................... ,............................. 144 4.1 Coordinate Systems .......... ,...................... ,................................................. 146 4.2 Position and Displacement ....................................................................... 147 Position ...................................................................................................... 747 Displacement ........................................................................................... 747

CONTENTS 4.3 Translation,Rotation,and Complex Motion 149 Translation 749 Rotation 749 Complex Motion 4444 749 The0femS 750 4.4 Graphical Position Analysis of Linkages 151 4.5 Algebraic Position Analysis of Linkages 444……4.4。。+4……4444444…… 152 Vector Loop Representation of Linkages 753 Complex Numbers as Vectors. 754 The Vector Loop Equation for a Fourbar Linkage 756 4.6 The Fourbar Slider-Crank Position Solution 159 4.7 An Inverted Slider-Crank Position Solution 161 4.8 Linkages of More Than Four Bars 164 The Geared Fivebar Linkage 764 Sixbar Linkages.… 767 4.9 Position of Any Point on a Linkage 168 4.10 Transmission Angles 169 Extreme Values of the TransmissionAngle 769 4.11 Toggle Positions… 171 4.12 Circuits and Branches in Linkages 173 4.13 Newton-Raphson Solution Method 174 One-Dimensional Root-Finding (Newton's Method) 774 Multidimensional Root-Finding (Newton-Raphson Method) 776 Newton-Raphson Solution for the Fourbar Linkage 777 Equation Solvers. 778 4.14 References 178 4.15 Problems 178 Chapter 5 Analytical Linkage Synthesis..................... 188 5.0 Introduction 188 5.1 Types of Kinematic Synthesis 188 5.2 Precision Points 189 5.3 Two-Position Motion Generation by Analytical Synthesis 189 5.4 Comparison of Analytical and Graphical Two-Position Synthesis 196 5.5 Simultaneous Equation Solution 199 5.6 Three-Position Motion Generation by Analytical Synthesis 201 5.7 Comparison of Analytical and Graphical Three-Position Synthesis...206 5.8 Synthesis for a Specified Fixed Pivot Location 211 5.9 Center-Point and Circle-Point Circles......... 217 5.10 Four-and Five-Position Analytical Synthesis 219 5.11 Analytical Synthesis of a Path Generator with Prescribed Timing 220 5.12 Analytical Synthesis of a Fourbar Function Generator 220 5.13 Other Linkage Synthesis Methods 224 Precision Point Methods ... 226 CouplerCuNe Equation Methods 227 Optimization Methods 227 5.14 References 230 5.15 Problems 232 Chapter 6 Velocity Analysis.....241 6.0 Introduction 241 6.1 Definition of Velocity 241 6.2 Graphical Velocity Analysis 244

4.3 Translation, Rotation, and Complex Motion .......................................... 149 Translation ................................................................................................ 749 Rotation .................................................................................................... 749 Complex Motion ...................................................................................... 749 Theorems .................................................................................................. 750 4.4 Graphical Position Analysis of Linkages .................................................. 151 4.5 Algebraic Position Analysis of Linkages .................................................. 152 Vector Loop Representation of Linkages ............................................. 753 Complex Numbers as Vectors ............................................................... 754 The Vector Loop Equation for a Fourbar Linkage ................................ 756 4.6 The Fourbar Slider-Crank Position Solution ............................................. 159 4.7 An Inverted Slider-Crank Position Solution ............................................. 161 4.8 Linkages of More Than Four Bars .............................................................. 164 The Geared Fivebar Linkage .................................................................. 764 Sixbar Linkages ......................................................................................... 767 4.9 Position of Any Point on a Linkage .......................................................... 168 4.10 Transmission Angles .................................................................................... 169 Extreme Values of the TransmissionAngle ............................................ 769 4.11 Toggle Positions ........................................................................................... 171 4.12 Circuits and Branches in Linkages ........................................................... 173 4.13 Newton-Raphson Solution Method ......................................................... 174 One-Dimensional Root-Finding (Newton's Method) ............................ 774 Multidimensional Root-Finding (Newton-Raphson Method) ............... 776 Newton-Raphson Solution for the Fourbar Linkage ............................. 777 Equation Solvers....................................................................................... 778 4.14 References ................................................................................................... 178 4.15 Problems ....................................................................................................... 178 Chapter 5 Analytical Linkage Synthesis........................................... 188 5.0 Introduction ................................................................................................. 188 5.1 Types of Kinematic Synthesis .................................................................... 188 5.2 Precision Points ............................................................................................ 189 5.3 Two-Position Motion Generation by Analytical Synthesis .................... 189 5.4 Comparison of Analytical and Graphical Two-Position Synthesis ..... 196 5.5 Simultaneous Equation Solution ............................................................... 199 5.6 Three-Position Motion Generation by Analytical Synthesis ................. 201 5.7 Comparison of Analytical and Graphical Three-Position Synthesis ... 206 5.8 Synthesis for a Specified Fixed Pivot Location ....................................... 211 5.9 Center-Point and Circle-Point Circles ..................................................... 217 5.10 Four- and Five-Position Analytical Synthesis .......................................... 219 5.11 Analytical Synthesis of a Path Generator with Prescribed Timing ..... 220 5.12 Analytical Synthesis of a Fourbar Function Generator ........................ 220 5.13 Other Linkage Synthesis Methods ............................................................ 224 Precision Point Methods .......................................................................... 226 CouplerCuNe Equation Methods ......................................................... 227 Optimization Methods ............................................................................. 227 5.14 References ................................................................................................... 230 5.15 Problems .............................................................. ,........................................ 232 Chapter 6 Velocity Analysis................................................................ 241 6.0 Introduction ........................................................ ,........................................ 241 6.1 Definition of Velocity ......................................... ,........................................ 241 6.2 Graphical Velocity Analysis ...................................................................... 244

DESIGN OF MACHINERY CONTENTS 6.3 Instant Centers of Velocity 249 6.4 Velocity Analysis with Instant Centers 256 Angular velocity Rafto..... ….257 Mechanical Advantage .259 Using Instant Centers in Unkage Design. 267 6.5 Centrodes 263 A 'UnkJess-Unkage ..266 Cusps 267 6.6 Velocity of Slip 小小小小小 267 6.7 Analytical Solutions for Velocity Analysis. 271 The Fotlbar Pin-Jointed Unkage277 The Fotlbar Slider-Crank........ 274 The Fotlbar Inverted Slider-Crank....... 276 6.8 Velocity Analysis of the Geared Fivebar Linkage 278 6.9 Velocity of Any Point on a Linkage 279 6.10 References 280 6.11 Problems 281 Chapter 7 Acceleration Analysis.... 300 7.0 Introduction 300 7.1 Definition of Acceleration 300 72 Graphical Acceleration Analysis 303 7.3 Analytical Solutions for Acceleration Analysis 308 The Fourbar Pin-Jointed Linkage.....308 The Fourbar Slider-Crank ..... .377 Coriolis Acceleration m 37 The Fourbar Inverted Slider-Crank...375 7.4 Acceleration Analysis of the Geared Fivebar Linkage 319 7.5 Acceleration of any Point on a Linkage 44444小 320 7.6 Human Tolerance of Acceleration 322 7.7 TK 324 7.8 Linkages Of MBars......... 327 7.9 References 327 7.10 Problems 327 Chapter 8 Cam Design 345 8.0 Introduction 345 8.1 Cam Terminology 346 Type of Follower Motion..... 347 Type of Joint Closure348 Type of Follower 348 Type of Cam......... .348 Type of Motion Constraints 357 Type of Motion Program 357 8.2 S VA J Diagrams 352 8.3 Double-Dwell Cam Design-Choosing S VA J Functions 353 The Fundamental LawofCamDesign 4044444444444444044444444。。44… .356 Simple Harmonic Motion (SHM)....... 357 Cycloidal Displacement 359 Combined Functions… 8.4 .362 Single-Dwell Cam Design-Choosing S VA J Functions 374 8.5 Polynomial Functions 378 Double-Dwell Applications of Polynomials.......................................378 Single-Dwell Applications of Polynomials........382

6.3 Instant Centers of Velocity ........................................................................ 249 6.4 Velocity Analysis with Instant Centers ..................................................... 256 Angular Velocity Raffo ............................................................................ 257 Mechanical Advantage ......................................................................... 259 Using Instant Centers in Unkage Design ................................................ 267 6.5 Centrodes .................................................................................................... 263 A 'UnkJess-Unkage ................................................................................. 266 Cusps ........................................................................................................ 267 6.6 Velocity of Slip ............................................................................................. 267 6.7 Analytical Solutions for Velocity Analysis ................................................ 271 The FotIbar Pin-Jointed Unkage ............................................................ 277 The FotIbar Slider-Crank ......................................................................... 274 The FotIbar Inverted Slider-Crank ......................................................... 276 6.8 Velocity Analysis of the Geared Fivebar Linkage ................................. 278 6.9 Velocity of Any Point on a Linkage ......................................................... 279 6.10 References ................................................................................................... 280 6.11 Problems ....................................................................................................... 281 Chapter 7 Acceleration Analysis ....................................................... 300 7.0 Introduction ................................................................................................. 300 7.1 Definition of Acceleration ......................................................................... 300 7.2 Graphical Acceleration Analysis ............................................................. 303 7.3 Analytical Solutions for Acceleration Analysis ....................................... 308 The Fourbar Pin-Jointed Linkage ............................................................ 308 The Fourbar Slider-Crank ......................................................................... 377 CorioIis Acceleration ............................................................................'" 3 73 The Fourbar Inverted Slider-Crank ......................................................... 375 7.4 Acceleration Analysis of the Geared Fivebar Linkage ........................ 319 7.5 Acceleration of any Point on a Linkage ................................................ 320 7.6 Human Tolerance of Acceleration .......................................................... 322 7.7 Jerk ................................................................................................................ 324 7.8 Linkages of N Bars ....................................................................................... 327 7.9 References ................................................................................................... 327 7.10 Problems ....................................................................................................... 327 Chapter 8 Cam Design ........................................................................ 345 8.0 Introduction ................................................................................................. 345 8.1 Cam Terminology ....................................................................................... 346 Type of Follower Motion .......................................................................... 347 Type of Joint Closure ............................................................................... 348 Type of Follower ....................................................................................... 348 Type of Cam ............................................................................................ 348 Type of Motion Constraints ..................................................................... 357 Type of Motion Program ......................................................................... 357 8.2 S V A J Diagrams ........................................................................................ 352 8.3 Double-Dwell Cam Design-Choosing S V A J Functions ................... 353 TheFundamental LawofCamDesign .................................................. 356 Simple Harmonic Motion (SHM) ............................................................. 357 Cycloidal Displacement ......................................................................... 359 Combined Functions ............................................................................... 362 8.4 Single-Dwell Cam Design-Choosing S V A J Functions ...................... 374 8.5 Polynomial Functions ................................................................................. 378 Double-Dwell Applications of Polynomials ........................................... 378 Single-Dwell Applications of Polynomials .............................................. 382

CONTENTS 8.6 Critical Path Motion (CPM)...... 385 Polynomials Used for Critical Path Motion .386 Half-Period Harmonic Family Functions................393 8.7 Sizing the Com-Pressure Angle and Radius of Curvature 396 PressureAngle-Roller Followers........ .397 Choosing a Prime Circle Radius.400 Overtuming Moment-Flat-Faced Follower .402 Radius of Curvature-Roller Follower 403 Radius of Curvature-Flat-Faced Follower.407 8.8 Com Manufacturing Considerations 4-44e…044-44e…0404-44e…e444-44e…=404-440…04044440…040 412 Geometnc Generation..413 Manual or NC Machining to Cam Coordinates (Plunge-Cutting) ..413 Continuous Numerical Control with Linear Interpolation .414 Continuous Numerical Control with Circular Interpolation ...416 Analog Duplication ..416 Actual Cam Performance Compared to Theoretical Performance.418 8.9 Practical Design Considerations 421 Translating or Oscillating Follower? 421 Force-or Form-Closed? …422 Radial or Axial Cam？… .422 Roller or Flat-Faced Follower? 423 ToDwell or Not to Dwenl? 423 To Grind or Not to Grind? 424 To Lubricate or Not to Lubricate? .424 8.10 References 424 8.11 Problems …425 8.12 Projects 429 Chapter 9 Gear Trains........ 432 9.0 Introduction 432 9.1 Rolling Cylinders 433 9.2 The Fundamental Law of Gearing 434 The Involute Tooth Form. 35 PressureAngle 37 Changing Center Distance 438 Backlash.… 438 9.3 Gear Tooth Nomenclature 440 9.4 Interference and Undercutting 442 Unequal-Addendum Tooth Forms 444 9.5 Contact Ratio 444 9.6 Gear Types… 447 Spur,Helical,and Hemingbone Gears. .447 Worms and Wom Gears448 Rack and Pinion...... .448 Bevel and Hypoid Gears....... 449 Noncircular Gears ................... 450 Belt and Chain Drives............... ...450 9.7 Simple Gear Trains ......... 452 9.8 Compound Gear Trains................................................ 453 Design of Compound Trains.... .454 Design of Reverted Compound Trains...... .456 An Algorithm for the Design of Compound Gear Trains..................... .458 9.9 Epicyclic or Planetary Gear Trains........ 462 The Tabular Method The Formula Method ,.469 9.10 Efficiency of Gear Trains...... 470

8.6 Critical Path Motion (CPM) ...................................................................... 385 Polynomials Used for Critical Path Motion ............................................ 386 Half-Period Harmonic Family Functions ................................................. 393 8.7 Sizing the Com-Pressure Angle and Radius of Curvature ................. 396 PressureAngle-Roller Followers ............................................................ 397 Choosing a Prime Circle Radius ............................................................. 400 Overturning Moment-Flat-Faced Follower ......................................... 402 Radius of Curvature-Roller Follower .................................................... 403 Radius of Curvature-Flat-Faced Follower ........................................... 407 8.8 Com Manufacturing Considerations ...................................................... 412 Geometric Generation ........................................................................... 413 Manual or NC Machining to Cam Coordinates (Plunge-Cutting) ..... 413 Continuous Numerical Control with Linear Interpolation .................... 414 Continuous Numerical Control with Circular Interpolation ................. 416 Analog Duplication ................................................................................. 416 Actual Cam Performance Compared to Theoretical Performance. 418 8.9 Practical Design Considerations .............................................................. 421 Translating or Oscillating Follower? ........................................................ 421 Force- or Form-Closed? ,......................................................................... 422 Radial or Axial Cam? .............................................................................. 422 Roller or Flat-Faced Follower? ................................................................ 423 ToDwell or Not to Dwell? ........................................................................ 423 ToGrind or Not to Grind? ........................................................................ 424 ToLubricate or Not to Lubricate? .......................................................... 424 8.10 References ................................................................................................... 424 8.11 Problems ................................................................................................... ,... 425 8.12 Projects ......................................................................................................... 429 Chapter 9 Gear Trains.......................................................................... 432 9.0 Introduction ................................................................................................. 432 9.1 Rolling Cylinders .......................................................................................... 433 9.2 The Fundamental Law of Gearing ........................................................... 434 TheInvolute Tooth Form .......................................................................... 435 PressureAngle .......................................................................................... 437 Changing Center Distance .................................................................... 438 Backlash ................................................................................................... 438 9.3 Gear Tooth Nomenclature ........................................................................ 440 9.4 Interference and Undercutting ................................................................ 442 Unequal-Addendum Tooth Forms ......................................................... 444 9.5 Contact Ratio .............................................................................................. 444 9.6 Gear Types ................................................................................................... 447 Spur, Helical, and Herringbone Gears ................................................... 447 Worms and Worm Gears ........................................................................ 448 Rack and Pinion ....................................................................................... 448 Bevel and Hypoid Gears ......................................................................... 449 Noncircular Gears ................................................................................... 450 Belt and Chain Drives .............................................................................. 450 9.7 Simple Gear Trains ...................................................................................... 452 9.8 Compound Gear Trains .,........................................................................... 453 Design of Compound Trains................................................................... 454 Design of Reverted Compound Trains.................................................. 456 An Algorithm for the Design of Compound Gear Trains ..................... 458 9.9 Epicyclic or Planetary Gear Trains ........................................................... 462 The Tabular Method ................................................................................ 464 The Formula Method ...,........................................................................... 469 9.10 Efficiency of Gear Trains ............................................................................ 470

DESIGN OF MACHINERY CONTENTS 9.1 1 Transmissic0n5… 474 9,12 ........... 477 9.13 479 9.14 Problems… 479 PART I DYNAMICS OF MACHINERY........... 489 Chapter 10 Dynamics Fundamentals491 10.0 intpoduction........ 491 10.1 Newton's Laws of Motion....... 491 10.2 Dynamic Model544… 492 10.3 492 10.4 Mass Moment and Center of Gravity........ 493 10.5 Mass Moment of Inertia (Second Moment of Mass)........................ 495 10.6 Parallel Axis Theorem (Transfer Theorem)................... 497 10.7 R0 dius of Gyratio门，4t4444,449t444 498 10.8 Center of Percussion............. 498 10.9 Lumped Parameter Dynamic Models......... 500 Spring Constant........... 500 501 10.10 Equivglent Systems.. 503 Combining Dampers 504 505 Combining Masses....... 506 Lever and Gear Ratios... 506 10.11 512 10.12 The Principle of d'Alembert... 513 10.13 Energy Methods-Virtual Work. 515 10.14 Refere门C0S,444444444t44444t+ 517 10.15 Problems4444… 518 Chapter 11 Dynamic Force Analysis................... 521 521 11.1 Newtonian Solution Method521 11.2 Single Link in Pure Rotation..... 522 11.3 Force Analysis of a Threebar Crank-Slide Linkage........................... 525 11.4 Force Analysis of a Fourbar Linkage........................ 531 11.5 Force Analysis of a Fourbar Slider-Crank Linkage....................... 538 11.6 Force Analysis of the Inverted slider-Crank......................... 541 11.7 Force Analysis-Linkages with More Than Four Bars............5.43 11.8 Shaking Forces and Shaking Torque............. 544 11.9 Program FOURBAR. 545 11.10 Linkage Force Analysis by Energy Methods........................... 545 11.11 Controlling Input Torque-Flywheels.................. 548 11.12 ALinkage Force Transmission Index.... 554 11.13 Practical considerations............................. 556 11.14 557 11.15 557 11.16 567