ENGINEERING LETTERING
CONTENTS PART I KINEMATICS OF MECHANISMS CHAPTER 1 INTRODUCTION PURPOSE KINEMATICS AND KINETICS MECHANISMS AND MACHINES A BRIEF HISTORY OF KINEMATICS APPLICATIONS OF KINEMATICS A DESIGN PROCESS DESIGN, INVENTION, CREATIVITY IDENTI?CATION OF NEED BACKGROUND RESEARCH GOAL STATEMENT PERFORMANCE SPECI?CATIONS IDEATION AND INVENTION ANALYSIS SELECTION DETAILED DESIGN PROTOTYPING AND TESTING PRODUCTION OTHER APPROACHES TO DESIGN AXIOMATIC DESIGN MULTIPLE SOLUTIONS HUMAN FACTORS ENGINEERING THE ENGINEERING REPORT UNITS A DESIGN CASE STUDY EDUCATING FOR CREATIVITY IN ENGINEERING WHAT’S TO COME RESOURCES WITH THIS TEXT PROGRAMS VIDEOS REFERENCES BIBLIOGRAPHY CHAPTER 2 KINEMATICS FUNDAMENTALS INTRODUCTION DEGREES OF FREEDOM (DOF) OR MOBILITY TYPES OF MOTION LINKS, JOINTS, AND KINEMATIC CHAINS DRAWING KINEMATIC DIAGRAMS DETERMINING DEGREE OF FREEDOM OR MOBILITY DEGREE OF FREEDOM IN PLANAR MECHANISMS DEGREE OF FREEDOM (MOBILITY) IN SPATIAL MECHANISMS MECHANISMS AND STRUCTURES NUMBER SYNTHESIS PARADOXES ISOMERS LINKAGE TRANSFORMATION INTERMITTENT MOTION INVERSION THE GRASHOF CONDITION CLASSI?CATION OF THE FOURBAR LINKAGE LINKAGES OF MORE THAN FOUR BARS GEARED FIVEBAR LINKAGES SIXBAR LINKAGES GRASHOF-TYPE ROTATABILITY CRITERIA FOR HIGHER-ORDER LINKAGES SPRINGS AS LINKS COMPLIANT MECHANISMS MICRO ELECTRO-MECHANICAL SYSTEMS (MEMS) PRACTICAL CONSIDERATIONS PIN JOINTS VERSUS SLIDERS AND HALF JOINTS CANTILEVER OR STRADDLE MOUNT? SHORT LINKS BEARING RATIO COMMERCIAL SLIDES LINKAGES VERSUS CAMS MOTORS AND DRIVERS ELECTRIC MOTORS AIR AND HYDRAULIC MOTORS AIR AND HYDRAULIC CYLINDERS SOLENOIDS 2 20 REFERENCES PROBLEMS CHAPTER 3 GRAPHICAL LINKAGE SYNTHESIS SYNTHESIS FUNCTION, PATH, AND MOTION GENERATION LIMITING CONDITIONS POSITION SYNTHESIS TWO-POSITION SYNTHESIS THREE-POSITION SYNTHESIS WITH SPECI?ED MOVING PIVOTS THREE-POSITION SYNTHESIS WITH ALTERNATE MOVING PIVOTS THREE-POSITION SYNTHESIS WITH SPECI?ED FIXED PIVOTS POSITION SYNTHESIS FOR MORE THAN THREE POSITIONS QUICK-RETURN MECHANISMS FOURBAR QUICK-RETURN SIXBAR QUICK-RETURN COUPLER CURVES SYMMETRICAL-LINKAGE COUPLER CURVES COGNATES ROBERTS-CHEBYCHEV THEOREM STRAIGHT-LINE MECHANISMS DESIGNING OPTIMUM STRAIGHT-LINE FOURBAR LINKAGES DWELL MECHANISMS SINGLE-DWELL LINKAGES DOUBLE-DWELL LINKAGES OTHER USEFUL LINKAGES CONSTANT VELOCITY PISTON MOTION LARGE ANGULAR EXCURSION ROCKER MOTION REMOTE CENTER CIRCULAR MOTION PROJECTS CHAPTER 4 POSITION ANALYSIS COORDINATE SYSTEMS POSITION AND DISPLACEMENT POSITION COORDINATE TRANSFORMATION DISPLACEMENT TRANSLATION, ROTATION, AND COMPLEX MOTION TRANSLATION ROTATION COMPLEX MOTION THEOREMS GRAPHICAL POSITION ANALYSIS OF LINKAGES ALGEBRAIC POSITION ANALYSIS OF LINKAGES VECTOR LOOP REPRESENTATION OF LINKAGES COMPLEX NUMBERS AS VECTORS THE VECTOR LOOP EQUATION FOR A FOURBAR LINKAGE THE FOURBAR CRANK-SLIDER POSITION SOLUTION THE FOURBAR SLIDER-CRANK POSITION SOLUTION AN INVERTED CRANK-SLIDER POSITION SOLUTION THE GEARED FIVEBAR LINKAGE POSITION OF ANY POINT ON A LINKAGE TRANSMISSION ANGLES EXTREME VALUES OF THE TRANSMISSION ANGLE TOGGLE POSITIONS CIRCUITS AND BRANCHES IN LINKAGES NEWTON-RAPHSON SOLUTION METHOD ONE-DIMENSIONAL ROOT-FINDING (NEWTON’S METHOD) MULTIDIMENSIONAL ROOT-FINDING (NEWTON-RAPHSON METHOD) NEWTON-RAPHSON SOLUTION FOR THE FOURBAR LINKAGE EQUATION SOLVERS CHAPTER 5 ANALYTICAL LINKAGE SYNTHESIS TYPES OF KINEMATIC SYNTHESIS TWO-POSITION SYNTHESIS FOR ROCKER OUTPUT PRECISION POINTS TWO-POSITION MOTION GENERATION BY ANALYTICAL SYNTHESIS COMPARISON OF ANALYTICAL AND GRAPHICAL TWO-POSITION SYNTHESIS SIMULTANEOUS EQUATION SOLUTION THREE-POSITION MOTION GENERATION BY ANALYTICAL SYNTHESIS COMPARISON OF ANALYTICAL AND GRAPHICAL THREE-POSITION SYNTHESIS SYNTHESIS FOR A SPECI?ED FIXED PIVOT LOCATION CENTER-POINT AND CIRCLE-POINT CIRCLES FOUR- AND FIVE-POSITION ANALYTICAL SYNTHESIS ANALYTICAL SYNTHESIS OF A PATH GENERATOR WITH PRESCRIBED TIMING ANALYTICAL SYNTHESIS OF A FOURBAR FUNCTION GENERATOR OTHER LINKAGE SYNTHESIS METHODS PRECISION POINT METHODS COUPLER CURVE EQUATION METHODS OPTIMIZATION METHODS CHAPTER 6 VELOCITY ANALYSIS DE?NITION OF VELOCITY GRAPHICAL VELOCITY ANALYSIS INSTANT CENTERS OF VELOCITY VELOCITY ANALYSIS WITH INSTANT CENTERS ANGULAR VELOCITY RATIO MECHANICAL ADVANTAGE USING INSTANT CENTERS IN LINKAGE DESIGN CENTRODES A “LINKLESS” LINKAGE CUSPS VELOCITY OF SLIP ANALYTICAL SOLUTIONS FOR VELOCITY ANALYSIS THE FOURBAR PIN-JOINTED LINKAGE THE FOURBAR CRANK-SLIDER THE FOURBAR SLIDER-CRANK THE FOURBAR INVERTED CRANK-SLIDER VELOCITY ANALYSIS OF THE GEARED FIVEBAR LINKAGE VELOCITY OF ANY POINT ON A LINKAGE CHAPTER 7 ACCELERATION ANALYSIS DE?NITION OF ACCELERATION GRAPHICAL ACCELERATION ANALYSIS ANALYTICAL SOLUTIONS FOR ACCELERATION ANALYSIS CORIOLIS ACCELERATION ACCELERATION ANALYSIS OF THE GEARED FIVEBAR LINKAGE ACCELERATION OF ANY POINT ON A LINKAGE HUMAN TOLERANCE OF ACCELERATION JERK LINKAGES OF N BARS REFERENCE VIRTUAL LABORATORY CHAPTER 8 CAM DESIGN CAM TERMINOLOGY TYPE OF FOLLOWER MOTION TYPE OF JOINT CLOSURE TYPE OF FOLLOWER TYPE OF CAM TYPE OF MOTION CONSTRAINTS TYPE OF MOTION PROGRAM S V A J DIAGRAMS DOUBLE-DWELL CAM DESIGN—CHOOSING S V A J FUNCTIONS THE FUNDAMENTAL LAW OF CAM DESIGN SIMPLE HARMONIC MOTION (SHM) CYCLOIDAL DISPLACEMENT COMBINED FUNCTIONS THE SCCA FAMILY OF DOUBLE-DWELL FUNCTIONS POLYNOMIAL FUNCTIONS DOUBLE-DWELL APPLICATIONS OF POLYNOMIALS SINGLE-DWELL CAM DESIGN—CHOOSING S V A J FUNCTIONS SINGLE-DWELL APPLICATIONS OF POLYNOMIALS E?ECT OF ASYMMETRY ON THE RISE-FALL POLYNOMIAL SOLUTION CRITICAL PATH MOTION (CPM) POLYNOMIALS USED FOR CRITICAL PATH MOTION SIZING THE CAM—PRESSURE ANGLE AND RADIUS OF CURVATURE PRESSURE ANGLE—TRANSLATING ROLLER FOLLOWERS CHOOSING A PRIME CIRCLE RADIUS OVERTURNING MOMENT—TRANSLATING FLAT-FACED FOLLOWER RADIUS OF CURVATURE—TRANSLATING ROLLER FOLLOWER RADIUS OF CURVATURE—TRANSLATING FLAT-FACED FOLLOWER PRACTICAL DESIGN CONSIDERATIONS TRANSLATING OR OSCILLATING FOLLOWER? FORCE- OR FORM-CLOSED? RADIAL OR AXIAL CAM? ROLLER OR FLAT-FACED FOLLOWER? TO DWELL OR NOT TO DWELL? TO GRIND OR NOT TO GRIND? TO LUBRICATE OR NOT TO LUBRICATE? CHAPTER 9 GEAR TRAINS ROLLING CYLINDERS THE FUNDAMENTAL LAW OF GEARING THE INVOLUTE TOOTH FORM PRESSURE ANGLE CHANGING CENTER DISTANCE BACKLASH GEAR TOOTH NOMENCLATURE INTERFERENCE AND UNDERCUTTING UNEQUAL-ADDENDUM TOOTH FORMS CONTACT RATIO GEAR TYPES SPUR, HELICAL, AND HERRINGBONE GEARS WORMS AND WORM GEARS RACK AND PINION BEVEL AND HYPOID GEARS NONCIRCULAR GEARS BELT AND CHAIN DRIVES SIMPLE GEAR TRAINS COMPOUND GEAR TRAINS DESIGN OF COMPOUND TRAINS DESIGN OF REVERTED COMPOUND TRAINS AN ALGORITHM FOR THE DESIGN OF COMPOUND GEAR TRAINS EPICYCLIC OR PLANETARY GEAR TRAINS THE TABULAR METHOD THE FORMULA METHOD E?CIENCY OF GEAR TRAINS TRANSMISSIONS DI?ERENTIALS PART II DYNAMICS OF MACHINERY CHAPTER 10 DYNAMICS FUNDAMENTALS NEWTON’S LAWS OF MOTION DYNAMIC MODELS MASS MASS MOMENT AND CENTER OF GRAVITY MASS MOMENT OF INERTIA (SECOND MOMENT OF MASS) PARALLEL AXIS THEOREM (TRANSFER THEOREM) DETERMINING MASS MOMENT OF INERTIA ANALYTICAL METHODS EXPERIMENTAL METHODS RADIUS OF GYRATION MODELING ROTATING LINKS CENTER OF PERCUSSION LUMPED PARAMETER DYNAMIC MODELS SPRING CONSTANT DAMPING EQUIVALENT SYSTEMS COMBINING DAMPERS COMBINING SPRINGS COMBINING MASSES LEVER AND GEAR RATIOS SOLUTION METHODS THE PRINCIPLE OF D’ALEMBERT CENTRIFUGAL FORCE ENERGY METHODS—VIRTUAL WORK CHAPTER 11 DYNAMIC FORCE ANALYSIS NEWTONIAN SOLUTION METHOD SINGLE LINK IN PURE ROTATION FORCE ANALYSIS OF A THREEBAR CRANK-SLIDE LINKAGE FORCE ANALYSIS OF A FOURBAR LINKAGE FORCE ANALYSIS OF A FOURBAR CRANK-SLIDER LINKAGE FORCE ANALYSIS OF THE INVERTED CRANK-SLIDER FORCE ANALYSIS—LINKAGES WITH MORE THAN FOUR BARS SHAKING FORCE AND SHAKING MOMENT PROGRAM LINKAGES TORQUE ANALYSIS BY AN ENERGY METHOD CONTROLLING INPUT TORQUE—FLYWHEELS A LINKAGE FORCE TRANSMISSION INDEX CHAPTER 12 BALANCING STATIC BALANCE DYNAMIC BALANCE BALANCING LINKAGES COMPLETE FORCE BALANCE OF LINKAGES E?ECT OF BALANCING ON SHAKING AND PIN FORCES E?ECT OF BALANCING ON INPUT TORQUE BALANCING THE SHAKING MOMENT IN LINKAGES MEASURING AND CORRECTING IMBALANCE CHAPTER 13 ENGINE DYNAMICS ENGINE DESIGN SLIDER-CRANK KINEMATICS GAS FORCE AND GAS TORQUE EQUIVALENT MASSES INERTIA AND SHAKING FORCES INERTIA AND SHAKING TORQUES TOTAL ENGINE TORQUE FLYWHEELS PIN FORCES IN THE SINGLE-CYLINDER ENGINE BALANCING THE SINGLE-CYLINDER ENGINE E?ECT OF CRANKSHAFT BALANCING ON PIN FORCES DESIGN TRADE-O?S AND RATIOS CONROD/CRANK RATIO BORE/STROKE RATIO MATERIALS CHAPTER 14 MULTICYLINDER ENGINES MULTICYLINDER ENGINE DESIGNS THE CRANK PHASE DIAGRAM SHAKING FORCES IN INLINE ENGINES INERTIA TORQUE IN INLINE ENGINES SHAKING MOMENT IN INLINE ENGINES EVEN FIRING TWO-STROKE CYCLE ENGINE FOUR-STROKE CYCLE ENGINE VEE ENGINE CON?GURATIONS OPPOSED ENGINE CON?GURATIONS BALANCING MULTICYLINDER ENGINES SECONDARY HARMONIC BALANCING OF THE FOUR-CYLINDER INLINE ENGINE A PERFECTLY BALANCED TWO-CYLINDER ENGINE CHAPTER 15 CAM DYNAMICS DYNAMIC FORCE ANALYSIS OF THE FORCE-CLOSED CAM-FOLLOWER UNDAMPED RESPONSE DAMPED RESPONSE RESONANCE KINETOSTATIC FORCE ANALYSIS OF THE FORCE-CLOSED CAM-FOLLOWER KINETOSTATIC FORCE ANALYSIS OF THE FORM-CLOSED CAM-FOLLOWER KINETOSTATIC CAMSHAFT TORQUE MEASURING DYNAMIC FORCES AND ACCELERATIONS CHAPTER 16 CAM- AND SERVO-DRIVEN MECHANISMS SERVOMOTORS SERVO MOTION CONTROL SERVO MOTION FUNCTIONS CAM-DRIVEN LINKAGES SERVO-DRIVEN LINKAGES OTHER LINKAGES CAM-DRIVEN VERSUS SERVO-DRIVEN MECHANISMS FLEXIBILITY COST RELIABILITY COMPLEXITY ROBUSTNESS PACKAGING LOAD CAPACITY