Design of Machinery : An Introduction to the Synthesis and Analysis of Mechanisms and Machines

by Norton, Robert L.

Edition: 3rd

ISBN13: 9780072470468

ISBN10: 0072470461

Format: Hardcover

Pub. Date: 2003-05-02

Publisher(s): McGraw-Hill Science/Engineering/Math

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Summary

Design of Machinery continues the tradition of this best-selling book through its balanced coverage of analysis and design, and outstanding use of realistic engineering examples. Through its reader-friendly style of writing, clear exposition of complex topics, and emphasis on synthesis and design, the text succeeds in conveying the art of design as well as the use of modern tools needed for analysis of the kinematics and dynamics of machinery. Numerous two-color illustrations are used throughout to provide a visual approach to understanding mechanisms and machines. Analytical synthesis of linkages is covered, and cam design is given a more thorough, practical treatment than found in other texts. To provide an integrated look at the use of software tools for analysis and design, Design of Machinery includes a CD-ROM with a fully functioning version of MSC. Working Model 2D v. 5.2, and over 100 Working Model simulations for readers to work with. The CD-ROM also includes the author's updated, user-friendly programs; FOURBAR, FIVEBAR, SIXBAR, SLIDER, DYNACAM, ENGINE and MATRIX. The book's website offers instructor and student resources, a collection of MATLAB simulations, and 100 interactive Fundamentals of Engineering (FE) Exam questions on machine design, kinematics and machine dynamics. Book jacket.

Author Biography

Robert L. Norton: Worcester Polytechnic Institute Worcester, Massachusetts

Preface to the Third Edition	p. xvii
Preface to the First Edition	p. xix
Kinematics of Mechanisms	p. 1
Introduction	p. 3
Purpose	p. 3
Kinematics and Kinetics	p. 3
Mechanisms and Machines	p. 4
A Brief History of Kinematics	p. 5
Applications of Kinematics	p. 6
The Design Process	p. 7
Design, Invention, Creativity	p. 7
Identification of Need	p. 8
Background Research	p. 9
Goal Statement	p. 10
Performance Specifications	p. 10
Ideation and Invention	p. 10
Analysis	p. 12
Selection	p. 13
Detailed Design	p. 13
Prototyping and Testing	p. 13
Production	p. 14
Other Approaches to Design	p. 15
Axiomatic Design	p. 15
Multiple Solutions	p. 16
Human Factors Engineering	p. 16
The Engineering Report	p. 17
Units	p. 17
What's to Come	p. 20
References	p. 20
Bibliography	p. 20
Kinematics Fundamentals	p. 24
Introduction	p. 24
Degrees of Freedom (DOF) or Mobility	p. 24
Types of Motion	p. 25
Links, Joints, and Kinematic Chains	p. 26
Determining Degree of Freedom or Mobility	p. 30
Degree of Freedom (Mobility) in Planar Mechanisms	p. 31
Degree of Freedom (Mobility) in Spatial Mechanisms	p. 34
Mechanisms and Structures	p. 34
Number Synthesis	p. 35
Paradoxes	p. 39
Isomers	p. 40
Linkage Transformation	p. 42
Intermittent Motion	p. 44
Inversion	p. 45
The Grashof Condition	p. 47
Classification of the Fourbar Linkage	p. 52
Linkages of More Than Four Bars	p. 54
Geared Fivebar Linkages	p. 54
Sixbar Linkages	p. 54
Grashof-Type Rotatability Criteria for Higher-Order Linkages	p. 55
Springs as Links	p. 57
Compliant Mechanisms	p. 57
Micro Electro-Mechanical Systems (MEMS)	p. 59
Practical Considerations	p. 61
Pin Joints versus Sliders and Half Joints	p. 61
Cantilever or Straddle Mount?	p. 63
Short Links	p. 64
Bearing Ratio	p. 64
Commercial Slides	p. 65
Linkages versus Cams	p. 65
Motors and Drivers	p. 66
Electric Motors	p. 66
Air and Hydraulic Motors	p. 71
Air and Hydraulic Cylinders	p. 71
Solenoids	p. 72
References	p. 72
Problems	p. 73
Graphical Linkage Synthesis	p. 86
Introduction	p. 86
Synthesis	p. 86
Function, Path, and Motion Generation	p. 88
Limiting Conditions	p. 90
Dimensional Synthesis	p. 92
Two-Position Synthesis	p. 93
Three-Position Synthesis with Specified Moving Pivots	p. 99
Three-Position Synthesis with Alternate Moving Pivots	p. 100
Three-Position Synthesis with Specified Fixed Pivots	p. 103
Position Synthesis for More Than Three Positions	p. 107
Quick-Return Mechanisms	p. 107
Fourbar Quick-Return	p. 108
Sixbar Quick-Return	p. 110
Coupler Curves	p. 113
Cognates	p. 122
Parallel Motion	p. 127
Geared Fivebar Cognates of the Fourbar	p. 129
Straight-Line Mechanisms	p. 130
Designing Optimum Straight-Line Fourbar Linkages	p. 132
Dwell Mechanisms	p. 136
Single-Dwell Linkages	p. 136
Double-Dwell Linkages	p. 139
Other Useful Linkages	p. 141
Constant Velocity Piston Motion	p. 141
Large Angular Excursion Rocker Motion	p. 142
Remote Center Circular Motion	p. 143
References	p. 145
Bibliography	p. 146
Problems	p. 146
Projects	p. 158
Position Analysis	p. 162
Introduction	p. 162
Coordinate systems	p. 164
Position and Displacement	p. 164
Position	p. 164
Coordinate Transformation	p. 165
Displacement	p. 165
Translation, Rotation, and Complex Motion	p. 167
Translation	p. 167
Rotation	p. 167
Complex Motion	p. 168
Theorems	p. 169
Graphical Position Analysis of Linkages	p. 169
Algebraic Position Analysis of Linkages	p. 171
Vector Loop Representation of Linkages	p. 172
Complex Numbers as Vectors	p. 172
The Vector Loop Equation for a Fourbar Linkage	p. 174
The Fourbar Slider-Crank Position Solution	p. 178
An Inverted Slider-Crank Position Solution	p. 180
Linkages of More Than Four Bars	p. 182
The Geared Fivebar Linkage	p. 182
Sixbar Linkages	p. 185
Position of any Point on a Linkage	p. 186
Transmission Angles	p. 187
Extreme Values of the Transmission Angle	p. 188
Toggle Positions	p. 190
Circuits and Branches in Linkages	p. 191
Newton-Raphson Solution Method	p. 192
One-Dimensional Root-Finding (Newton's Method)	p. 193
Multidimensional Root-Finding (Newton-Raphson Method)	p. 194
Newton-Raphson Solution for the Fourbar Linkage	p. 195
Equation Solvers	p. 196
References	p. 197
Problems	p. 197
Analytical Linkage Synthesis	p. 210
Introduction	p. 210
Types of Kinematic Synthesis	p. 210
Precision Points	p. 211
Two-Position Motion Generation by Analytical Synthesis	p. 211
Comparison of Analytical and Graphical Two-Position Synthesis	p. 218
Simultaneous Equation Solution	p. 221
Three-Position Motion Generation by Analytical Synthesis	p. 223
Comparison of Analytical and Graphical Three-Position Synthesis	p. 228
Synthesis for a Specified Fixed Pivot Location*	p. 233
Center-Point and Circle-Point Circles	p. 239
Four- and Five-Position Analytical Synthesis	p. 241
Analytical Synthesis of a Path Generator with Prescribed Timing	p. 242
Analytical Synthesis of a Fourbar Function Generator	p. 242
Other Linkage Synthesis Methods	p. 246
Precision Point Methods	p. 248
Coupler Curve Equation Methods	p. 249
Optimization Methods	p. 249
References	p. 253
Problems	p. 255
Velocity Analysis	p. 265
Introduction	p. 265
Definition of Velocity	p. 265
Graphical Velocity Analysis	p. 268
Instant Centers of Velocity	p. 273
Velocity Analysis with Instant Centers	p. 280
Angular Velocity Ratio	p. 281
Mechanical Advantage	p. 283
Using Instant Centers in Linkage Design	p. 285
Centrodes	p. 287
A "Linkless" Linkage	p. 290
Cusps	p. 291
Velocity of Slip	p. 291
Analytical Solutions for Velocity Analysis	p. 295
The Fourbar Pin-Jointed Linkage	p. 295
The Fourbar Slider-Crank	p. 298
The Fourbar Inverted Slider-Crank	p. 300
Velocity Analysis of the Geared Fivebar Linkage	p. 302
Velocity of any Point on a Linkage	p. 303
References	p. 304
Problems	p. 305
Acceleration Analysis	p. 328
Introduction	p. 328
Definition of Acceleration	p. 328
Graphical Acceleration Analysis	p. 331
Analytical Solutions for Acceleration Analysis	p. 336
The Fourbar Pin-Jointed Linkage	p. 336
The Fourbar Slider-Crank	p. 339
Coriolis Acceleration	p. 341
The Fourbar Inverted Slider-Crank	p. 343
Acceleration Analysis of the Geared Fivebar Linkage	p. 347
Acceleration of any Point on a Linkage	p. 348
Human Tolerance of Acceleration	p. 350
Jerk	p. 352
Linkages of n Bars	p. 355
References	p. 355
Problems	p. 355
Cam Design	p. 377
Introduction	p. 377
Cam Terminology	p. 378
Type of Follower Motion	p. 379
Type of Joint Closure	p. 380
Type of Follower	p. 380
Type of Cam	p. 380
Type of Motion Constraints	p. 383
Type of Motion Program	p. 383
S V A J Diagrams	p. 384
Double-Dwell Cam Design--Choosing S V A J Functions	p. 385
The Fundamental Law of Cam Design	p. 388
Simple Harmonic Motion (SHM)	p. 389
Cycloidal Displacement	p. 391
Combined Functions	p. 394
The SCCA Family of Double-Dwell Functions	p. 397
Polynomial Functions	p. 407
Double-Dwell Applications of Polynomials	p. 408
Single-Dwell Cam Design--Choosing S V A J Functions	p. 411
Single-Dwell Applications of Polynomials	p. 415
Effect of Asymmetry on the Rise-Fall Polynomial Solution	p. 417
Critical Path Motion (CPM)	p. 421
Polynomials Used for Critical Path Motion	p. 422
Sizing the Cam--Pressure Angle and Radius of Curvature	p. 429
Pressure Angle--Translating Roller Followers	p. 430
Choosing a Prime Circle Radius	p. 433
Overturning Moment--Translating Flat-Faced Follower	p. 434
Radius of Curvature--Translating Roller Follower	p. 435
Radius of Curvature--Translating Flat-Faced Follower	p. 440
Cam Manufacturing Considerations	p. 444
Machining a Cam	p. 445
Actual Cam Performance Compared to Theoretical Performance	p. 446
Practical Design Considerations	p. 449
Translating or Oscillating Follower?	p. 450
Force or Form-Closed?	p. 450
Radial or Axial Cam?	p. 451
Roller or Flat-Faced Follower?	p. 451
To Dwell or Not to Dwell?	p. 452
To Grind or Not to Grind?	p. 452
To Lubricate or Not to Lubricate?	p. 452
References	p. 453
Problems	p. 453
Projects	p. 459
Gear Trains	p. 462
Introduction	p. 462
Rolling Cylinders	p. 463
The Fundamental Law of Gearing	p. 464
The Involute Tooth Form	p. 465
Pressure Angle	p. 467
Changing Center Distance	p. 468
Backlash	p. 468
Gear Tooth Nomenclature	p. 470
Interference and Undercutting	p. 472
Unequal-Addendum Tooth Forms	p. 474
Contact Ratio	p. 474
Gear Types	p. 477
Spur, Helical, and Herringbone Gears	p. 477
Worms and Worm Gears	p. 478
Rack and Pinion	p. 479
Bevel and Hypoid Gears	p. 479
Noncircular Gears	p. 480
Belt and Chain Drives	p. 481
Simple Gear Trains	p. 483
Compound Gear Trains	p. 484
Design of Compound Trains	p. 485
Design of Reverted Compound Trains	p. 486
An Algorithm for the Design of Compound Gear Trains	p. 489
Epicyclic or Planetary Gear Trains	p. 493
The Tabular Method	p. 495
The Formula Method	p. 499
Efficiency of Gear Trains	p. 501
Transmissions	p. 504
Differentials	p. 509
References	p. 512
Bibliography	p. 512
Problems	p. 512
Dynamics of Machinery	p. 523
Dynamics Fundamentals	p. 525
Introduction	p. 525
Newton's Laws of Motion	p. 525
Dynamic Models	p. 526
Mass	p. 526
Mass Moment and Center of Gravity	p. 527
Mass Moment of Inertia (Second Moment of Mass)	p. 529
Parallel Axis Theorem (Transfer Theorem)	p. 531
Determining Mass Moment of Inertia	p. 532
Analytical Methods	p. 532
Experimental Methods	p. 532
Radius of Gyration	p. 533
Modeling Rotating Links	p. 534
Center of Percussion	p. 535
Lumped Parameter Dynamic Models	p. 537
Spring Constant	p. 538
Damping	p. 538
Equivalent Systems	p. 540
Combining Dampers	p. 541
Combining Springs	p. 542
Combining Masses	p. 543
Lever and Gear Ratios	p. 543
Solution Methods	p. 549
The Principle of d'Alembert	p. 550
Energy Methods--Virtual Work	p. 552
References	p. 554
Problems	p. 554
Dynamic Force Analysis	p. 559
Introduction	p. 559
Newtonian Solution Method	p. 559
Single Link in Pure Rotation	p. 560
Force Analysis of A Threebar Crank-Slide Linkage	p. 563
Force Analysis of a Fourbar Linkage	p. 569
Force Analysis of a Fourbar Slider-Crank Linkage	p. 576
Force Analysis of the Inverted Slider-Crank	p. 579
Force Analysis--Linkages with More Than Four Bars	p. 581
Shaking Forces and Shaking Torque	p. 582
Program Fourbar	p. 583
Linkage Force Analysis by Energy Methods	p. 583
Controlling Input Torque--Flywheels	p. 586
A Linkage Force Transmission Index	p. 592
Practical Considerations	p. 594
References	p. 595
Problems	p. 595
Projects	p. 606
Balancing	p. 608
Introduction	p. 608
Static Balance	p. 609
Dynamic Balance	p. 612
Balancing Linkages	p. 617
Complete Force Balance of Linkages	p. 618
Effect of Balancing on Shaking and Pin Forces	p. 621
Effect of Balancing on Input Torque	p. 623
Balancing the Shaking Moment in Linkages	p. 624
Measuring and Correcting Imbalance	p. 628
References	p. 630
Problems	p. 630
Engine Dynamics	p. 638
Introduction	p. 638
Engine Design	p. 640
Slider-Crank Kinematics	p. 645
Gas Force and Gas Torque	p. 651
Equivalent Masses	p. 653
Inertia and Shaking Forces	p. 657
Inertia and Shaking Torques	p. 660
Total Engine Torque	p. 661
Flywheels	p. 662
Pin Forces in the Single-Cylinder Engine	p. 663
Balancing the Single-Cylinder Engine	p. 671
Effect of Crankshaft Balancing on Pin Forces	p. 675
Design Trade-offs and Ratios	p. 676
Conrod/Crank Ratio	p. 676
Bore/Stroke Ratio	p. 676
Materials	p. 677
Bibliography	p. 677
Problems	p. 677
Projects	p. 682
Multicylinder Engines	p. 683
Introduction	p. 683
Multicylinder Engine Designs	p. 685
The Crank Phase Diagram	p. 688
Shaking Forces in Inline Engines	p. 689
Inertia Torque in Inline Engines	p. 693
Shaking Moment in Inline Engines	p. 694
Even Firing	p. 696
Two-Stroke Cycle Engine	p. 697
Four-Stroke Cycle Engine	p. 699
Vee Engine Configurations	p. 705
Opposed Engine Configurations	p. 717
Balancing Multicylinder Engines	p. 718
Secondary Balance in the Four-Cylinder Inline Engine	p. 722
A Perfectly Balanced Two-Cylinder Engine	p. 725
References	p. 725
Bibliography	p. 725
Problems	p. 725
Projects	p. 727
Cam Dynamics	p. 729
Introduction	p. 729
Dynamic Force Analysis of the Force-Closed Cam-Follower	p. 730
Undamped Response	p. 730
Damped Response	p. 733
Resonance	p. 740
Kinetostatic Force Analysis of the Force-closed Cam-Follower	p. 742
Kinetostatic Force Analysis of the Form-Closed Cam-Follower	p. 746
Kinetostatic Camshaft Torque	p. 750
Measuring Dynamic Forces and Accelerations	p. 753
Practical Considerations	p. 757
References	p. 757
Bibliography	p. 757
Problems	p. 758
Engineering Design	p. 761
Introduction	p. 761
A Design Case Study	p. 762
Computer Programs	p. 769
Introduction	p. 769
General information	p. 771
General Program Operation	p. 771
Program Fourbar	p. 778
Program Fivebar	p. 787
Program Sixbar	p. 789
Program Slider	p. 792
Program Dynacam	p. 794
Program Engine	p. 800
Program Matrix	p. 808
Material Properties	p. 809
Geometric Properties	p. 813
Spring Data	p. 815
Atlas of Geared Fivebar Linkage Coupler Curves	p. 819
Answers to Selected Problems	p. 825
Index	p. 841
CD-ROM Catalog	p. 856
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