Kinematics and Dynamics of Machinery

1. Mechanisms and Machines: Basic Concepts.


Introduction. Tools Available to the Designer of Linkages and Other Mechanisms. Systems of Units. Terminology and Definitions. Degrees of Freedom (Mobility). Classification of Closed Planar. Four Bar Linkages: The Grashof Criterion. Transmission Angle. Limiting Positions. Quick Return Mechanisms. Linkage Interference. Mechanisms for Specific Applications. Computer Aided Linkage Design. Computer Implemented Numerical Methods. Mechanism Design Considerations.



2. Motion in Machinery.


Motion. Vectors. Displacement Analysis of Planar. Linkages: Analytical Vector Methods. Complex Numbers. Complex Number Methods Applied to Displacement Analysis of Linkages. Spatial (Three Dimensional) Linkages. Computer Implemented Numerical. Methods of Position Analysis.



3. Velocity Analysis of Mechanisms.


Basic Concepts. Moving Coordinate Systems. Relative Velocity. Application of Analytical Vector. Methods to Linkages. Using a Spreadsheet to Solve Problems in Kinematics. Mathematics Software Applied to Vector Solutions of Kinematics Problems. Complex Number Methods Applied to Velocity Analysis. Spatial Linkages. Graphical Analysis of Linkage Motion. Utilizing Relative Velocity. The Velocity Polygon. Graphical Analysis of Basic Linkages. Analyzing Linkages Through Trial. Solutions and Inverse Methods. Centros.



4. Acceleration Analysis of Mechanisms.


Basic Concepts. Analysis of a Four Bar Linkage Using. Analytical Vector Methods. Acceleration Analysis Using a Spreadsheet. Mathematics Software Applied to Acceleration Analysis. Complex Number Methods Applied to Acceleration Analysis. The Acceleration Polygon. Equivalent Linkages. Graphical Analysis of Sliding Contact Linkages. Cams and Cam Followers. Analyzing Combinations of Basic Linkages. Inverse and Trial Solution Methods Applied to Linkage Acceleration Analysis. Limiting Positions. Spatial Linkages.



5. Design and Analysis.


Introduction. Graphical Cam Design. Analysis of Cam Follower Motion. Analytical Cam Design. Positive Motion Cams. Cylindrical Cams. Practical Considerations in Cam Design.



6. Spur Gears: Design and Analysis.


Basic Considerations. Gear Types. Spur Gear Terminology. Fundamental Law of Gearing. Internal Gears. Standard Gears. Gear Manufacture. Sliding Action of Gear Teeth. Interference. Gear Tooth Forces.



7. Helical, Worm, and Bevel Gears: Design and Analysis.


Helical Gears on Parallel Shafts. Crossed Helical Gears. Worm Gears. Bevel Gears.



8. Drive Trains: Design and Analysis.


Introduction. Velocity Ratios for Spur and Helical Gear Trains. Speed Ratio Change. Planetary Gear Trains. Other Drive Train Elements. Velocity and Acceleration in a Planetary Train. Forces, Torques, and Transmitted Power in Gear Trains. Spreadsheets Applied to the Design of Gear Trains.



9. Static Force Analysis.


Introduction. Basic Principles of Force Analysis. Graphical Force Analysis. Analytical Statics. Friction in Mechanisms. Forces in Gear and Cam Mechanisms.



10. Dynamic Force Analysis.


Introduction. Newton's Second Law of Motion. D'Alembert's Principle and Inertia Forces. Dynamic Analysis of the Four Bar Linkage. Dynamic Analysis of the Slider Crank Mechanism. Balancing of Machinery. Balancing of Rigid Rotors. Balancing of Reciprocating Machines.



11. Synthesis.


Type Synthesis. Number Synthesis. Two Position Synthesis. Three Position Synthesis Using a Four Bar Linkage. Velocity and Acceleration Synthesis. Design of a Function Generator. Coupler Curves.



12. Introduction to Robotic Manipulators.


Introduction. Robot Terminology and Definitions. Matrix Method of Analysis. Transformation Matrices. Forward Kinematics. Inverse Kinematics. Partial Answers to Selected Problems. Index.