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 44CONTENTS 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