Mechanism Design: Enumeration of Kinematic Structures According to Function (Mechanical and Aerospace Engineering Series) PDF
Preview Mechanism Design: Enumeration of Kinematic Structures According to Function (Mechanical and Aerospace Engineering Series)
Mechanism Design Enumeration of Kinematic Structures According to Function Mechanical Engineering Series Frank Kreith - Series Editor Published Titles Entropy Generation Minimization Adrian Bejan Finite Element Method Using MATLAB Young W. Kwon & Hyochoong Bang Fundamentals of Environmental Discharge Modeling Lorin R. Davis Intelligent Transportation Systems: New Principles and Architectures Sumit Ghosh & Tony Lee Mathematical & Physical Modeling of Materials Processing Operations Olusegun Johnson Ileghus, Manabu Iguchi & Walter E. Wahnsiedler Mechanics of Composite Materials Autar K. Kaw Mechanics of Fatigue Vladimir V. Bolotin Mechanism Design: Enumeration of Kinematic Structures According to Function Lung-Wen Tsai Nonlinear Analysis of Structures M. Sathyamoorthy Practical Inverse Analysis in Engineering David M. Trujillo & Henry R. Busby Thermodynamics for Engineers Kau-Fui Wong Viscoelastic Solids Roderic S. Lakes Forthcoming Titles Distributed Generation: The Power Paradigm for the New Millennium Anne-Marie Borbely & Jan F. Kreider Engineering Experimentation Euan Somerscales Energy Audit of Building Systems: An Engineering Approach Moncef Krarti nd Finite Element Method Using MATLAB, 2 Edition Young W. Kwon & Hyochoong Bang Introduction Finite Element Method Chandrakant S. Desai & Tribikram Kundu Mechanics of Solids & Shells Gerald Wempner & Demosthenes Talaslidis Principles of Solid Mechanics Rowland Richards, Jr. Mechanism Design Enumeration of Kinematic Structures According to Function Lung-Wen Tsai Presidential Chair Professor Department of Mechanical Engineering Bourns College of Engineering University of California, Riverside CRC Press Boca Raton London New York Washington, D.C. ON THE COVER: A 4-speed automatic transmission. (Courtesy of General Motors, Warren, MI.) Library of Congress Cataloging-in-Publication Data Tsai, Lung-Wen. Mechanism design : enumeration of kinematic structures according to function / Lung-Wen Tsai p. cm.--(Mechanical engineering series) Includes bibliographical references and index. ISBN 0-8493-0901-8 1. Machinery, Kinematics of. 2. Machine design. I. Title. II. Advanced topics in mechanical engineering series. TJ175 .T78 2000 621.8′11--dc21 00-056415 This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microfilming, and recording, or by any information storage or retrieval system, without prior permission in writing from the publisher. The consent of CRC Press LLC does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific permission must be obtained in writing from CRC Press LLC for such copying. Direct all inquiries to CRC Press LLC, 2000 N.W. Corporate Blvd., Boca Raton, Florida 33431. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation, without intent to infringe. © 2001 by CRC Press LLC No claim to original U.S. Government works International Standard Book Number 0-8493-0901-8 Library of Congress Card Number 00-056415 Printed in the United States of America 1 2 3 4 5 6 7 8 9 0 Printed on acid-free paper Preface This textbook has evolved from class notes used for a course in systematic design of mechanisms that the author has taught for over a decade. Although it is written primarilyforseniorandfirst-yeargraduatelevelstudentsinengineering,itisequally valuableforpracticingengineers,particularlyformechanismandmachinedesigners. Traditionally, mechanisms are created by the designer’s intuition, ingenuity, and experience. This ad hoc approach, however, cannot ensure the identification of all feasibledesignalternatives,nordoesitnecessarilyleadtoanoptimumdesign. Two approaches have been developed to alleviate the problem. The first involves the development of atlases of mechanisms grouped according to function for use as a primary source of ideas. The second makes use of a symbolic representation of the kinematic structure and the combinatorial analysis as a tool for enumeration of mechanisms. This textbook introduces a systematic methodology for the creation and classifi- cation of mechanisms. The approach is partly analytical and partly algorithmic. It isbasedontheideathat,duringtheconceptualdesignphase,someofthefunctional requirementsofadesiredmechanismcanbetransformedintostructuralcharacteris- ticsthatcanbeemployedforsystematicenumerationofmechanisms. Thekinematic structureofamechanismcontainstheessentialinformationaboutwhichlinkiscon- nectedtowhichotherlinkbywhattypeofjoint. Usinggraphtheory,combinatorial analysis,andcomputeralgorithms,kinematicstructuresofthesamenature,i.e.,the samethenumberofdegreesoffreedom,typeofmotion(planarorspatial),andcom- plexitycanbeenumeratedinanessentiallysystematicandunbiasedmanner. Then each mechanism structure is sketched and evaluated with respect to the remaining functionalrequirements. Thisresultsinaclassoffeasiblemechanismsthatcanbe subjecttodimensionalsynthesis,kinematicanddynamicanalyses,designoptimiza- tion,anddesigndetailing. Thistextbookisorganizedasfollows: Chapter1providesabriefreviewofthedesignprocessandasystematicmethod- ologyforcreationofmechanisms. Someterminologiesrelatedtothekinematicsof mechanismaredefined. Mechanismsareclassifiedaccordingtothenatureofmotion intoplanar,spherical,andspatialmechanisms. Chapter2isconcernedwiththebasicconceptsofgraphtheory,whichisessentialfor structuralanalysisandstructuralsynthesisofmechanisms. Thismaterialisextremely importantsincethedesignmethodologyemploysgraphstorepresentthemechanism structureandmechanismstructuresareenumeratedwiththeaidofgraphtheory. Chapter3introducesseveralmethodsofrepresentationofthekinematicstructure of mechanisms. The kinematic structure, which contains the essential information aboutwhichlinkisconnectedtowhichotherlinksbywhattypesofjoint,willbeused forenumerationofmechanisms. Chapter4examinesthestructuralcharacteristicsofmechanisms. Thecorrespon- dence between graph and mechanism is established, from which several important mechanismstructuralcharacteristicsarederived. Thedegreesoffreedomofamecha- nism,theloop-mobilitycriterion,theconceptofstructuralisomorphism,andvarious methodsofidentificationofstructuralisomorphismaredescribed. Chapter5dealswiththeenumerationofgraphsofkinematicchains. Systematic algorithmsfortheenumerationofcontractedandconventionalgraphsarepresented. Atlases of contracted graphs and conventional graphs are developed. Using these atlases,anenormousnumberofmechanismscanbedeveloped. Chapter6describesageneralprocedurefortheenumerationandclassificationof mechanisms. Planar bar linkages, geared mechanisms, cam mechanisms, spherical mechanisms,andspatialmechanismsareenumeratedandclassifiedaccordingtothe numberofdegreesoffreedom,thenumberofindependentloops,etc. Chapter7coverstheenumerationandclassificationofepicyclicgeartrains(EGTs). ThestructuralcharacteristicsofEGTsareidentified. Variousmethodsofenumeration including Buchsbaum and Freudenstein’s method, the genetic graph approach, and theparentbarlinkagemethodarediscussed. Furthermore,thetheoryoffundamental circuitsisintroducedforthespeed-ratioanalysisofEGTs. Chapters 8 and 9 offer several conceptual design examples to demonstrate the powerofthemethodology. Chapter8concentratesontheenumerationofautomotive mechanisms, whereas Chapter 9 involves the enumeration of robotic mechanisms. Atlasesofparallelmanipulatorsandroboticwristmechanismsaredeveloped. AppendixApresentsanalgorithmforsolvingasystemofmlinearequationsinn unknowns. Anesteddo-loopsalgorithmservesasthebasisforsystematicenumera- tionofmechanisms. AppendixBprovidesanatlasofcontractedgraphshavingtwoto fourindependentloops. AppendixCiscomprisedofanatlasofgraphsofkinematic chainshavinguptothreeindependentloopsandeightlinks. AppendixDoffersan atlas of planar linkages with one, two, and three degrees of freedom. Appendix E contains an atlas of spatial one-dof, single-loop kinematic chains. Appendix F in- cludesanatlasofepicyclicgeartrainsclassifiedaccordingtothenumberofdegreesof freedom,thenumberofindependentloops,andthevertexdegreelisting. AppendixG furnishestheschematicdiagramsandclutchingsequencesofsomecommonlyused epicyclictransmissiongeartrains. Prerequisitesforreadersofthistextbookincludethebasicconceptsofcombinato- rialanalysis,graphtheory,matrixtheory,andthekinematicsofmechanismsthatare usuallytaughtattheundergraduatelevel. ThomasEdisonsaid,“geniusisonepercent inspirationandninety-ninepercentperspiration.” Inspirationcanoccurmorereadily whenperspirationisproperlydirectedandfocused. Themethodologypresentedin this book is intended to help designers better organize the perspiration so that the inspirationcantakeplaceearlyinthedesignprocess. Forthosewhoarewillingto try,therewardsshouldbewellworthit. TheauthorwishestoexpresshissincereappreciationtoDr.BernardRoth,hisfor- merPh.D.advisoratStanfordUniversity,andDr. FerdinandFreudenstein,Professor EmeritusatColumbiaUniversity,fortheirlifelongadviceandencouragement. Ama- jorportionofthematerialpresentedinthistextbookisderivedfromDr.Freudenstein andhisformerstudents’researchresults. Othersaretakenfromtheauthor’sresearch incollaborationwithprofessionalcolleagues,TingLiuandRolandMaki,andwithhis former students, Sun-Lai Chang, Goutam Chatterjee, Dar-Zen Chen, Hsin-I Hsieh, Chen-ChouLin, RichardStamper, andFarhadTahmasebi. Theireffortsaregreatly appreciated. Lastly, the author appreciates the patience and sacrifice of his family members, Lung-ChuTsai, JuleAnnTsai, andDavidJeanchungTsai, overthepast fewyearswhilethetextbookwasbeingwritten. Lung-WenTsai Riverside,California The Author Lung-WenTsaiisaPresidentialChairProfessorintheDepartmentofMechanical EngineeringattheUniversityofCaliforniainRiverside. HeobtainedhisB.S.degree in mechanical engineering from the National Taiwan University in Taipei, Taiwan; M.S.degreeinengineeringsciencefromtheStateUniversityofNewYork(SUNY) inBuffalo,NewYork;andPh.D.inmechanicalengineeringfromStanfordUniversity inStanford,California. From1973to1978,Dr.TsaiwasaresearchanddevelopmentengineerforHewlett PackardresponsibleforthedesignofinstrumentationtaperecordersandX-Yplotters. From1978to1986hewasaseniorstaffresearchengineerforGeneralMotorsand ledprojectsinthedevelopmentofvariable-strokeenginemechanisms,variable-valve timingmechanisms,activeenginebalancingdevices,automatictransmissionmech- anisms,andkinematicsofrobotmanipulators. Hismostrecentpositionwaswiththe UniversityofMarylandinCollegeParkfrom1986toJuly2000whereheestablished anationallyrecognizedresearchandeducationprograminmechanismsandmachine theory,automotiveengineering,androbotmanipulators. Dr.TsaijoinedtheDepart- ment of Mechanical Engineering at the University of California at Riverside in the Fallof2000. Dr.TsaiisaregisteredprofessionalengineerinCalifornia,aFellowoftheASME, andamemberoftheSAE.HeisChiefEditorfortheASMEJournalofMechanical DesignandChairmanofthe2000ASMEInternationalDesignEngineeringTechnical ConferencesandtheComputerinEngineeringConference. Dr.Tsaihaspublished onebookonrobotanalysis(RobotAnalysis: TheMechanicsofSerialandParallel Manipulators,JohnWiley&Sons,NewYork,1999)andmorethan100journaland conferenceproceedingspapers. Heistherecipientofnumerousawards,includingthe 1984ASMEMechanismCommitteebestpaperaward,1989and1991AMRProcter& GambleAwards,1985ASMEMelvilleMedal,1986GMJohnCampbellAward,1988 SAE Arch Colwell Merit Award, and 1993 AMR South-Pointing-Chariot Rotating Trophy.
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