Page 1 THEORY OF MACHINES .AND MECHANISMS Joseph Edward Shigley Professor Erneritus ...

592 Pages·06.75 MB·English

THEORY
OF MACHINES
_-AND MECHANISMS

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UF OO ( THOT W1HG EG HIE 70'S 19°FJ BRE “DM THEW'S H1/J/G °9*. O° /1J'A* DS
Joseph Edward Shigley
Professor Bmeries of Mecheicol Engrg
‘he Cravens of ichiear
John Joseph Dleker, Jr.

Profersr of Meshanical Eginecrng
Univoniny of Witconin, Matlion

MeGRAWHILL BOOK COMPANY

Auckland Pogota Custemela Hoebory, Lisboa
Lender Madd Mesice New Delhi Panama Paris
‘Si Paula Singspore
THEORY OF MACHINES AND MECHANISMS
INTERNATIONAL. EDITION

Copyeight © 1981

Exclusive gts by MoGraw-Hil Book Co. Singapore lor

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‘This book was etn Times Roman,
‘The editors were Julienne V, Brown and James W, Bradkey:
[The production supervisor was Phil Galea.

Library of Compress Cataloging in PUblication Data
Shialey, Joseph Edward,
Theory of machines and mechantsms.
(MeGras-Hif actos in mochanival
engineering)
‘chad inde,
1. Mechanical engineering. 1, Uiker,
John Josep joint author, 1 THe,
Thgsssa G18 79.19705
ISHN U.07-056584.7

‘When ordering ths Ue uge ESBNO07-Y66560-5

Prfted in Siaypene by
‘Chong Mob Oltet Pring Pre, br
THEORY OF MACHINES AND MECHANISMS
McGraw-HIB Seties in Mechanica! Engineering

Conaatng Eaktor
tok P Holman, Southem Mettodit Universtiy

Sarron: Crogenic Sates
eke: Enesco Jo Fea) en Mavs Transfer

eset wd Drak: Analy 9 Heat and Mast Transfer
Beker wd Drake: Hat and Mass Transfer

Bea, Cram, and Reers: Mecancs of Machinery
[arabe tnd Denavs Kinematic Sieh of inktuts
eye Tarbence

Hinton: Applied Mechanical Vibrstiont

Incoben and Aye: Empnceing Vibrations

uvtale Eeclsering Consslerons of Stress, Sain. and Strength
ape and Crwvlard: Consecoe Heat and Mase Transfer
Liebe: Condastion Engine Processes,

Marin: Kbematics end Doneics of Mrchines

Phelan; Dyce of Muchere

Phelan: Biadamenials of Mechanical sion

Raven: Aicomatic Conral Enginerine

Severe: Theanesof Engnering Exgerimenttion
Sebiing: Boundarsbaper Theory

‘higher: Drmamic Analysis of Machines

Shier: Kmeratc Anal of Mechandns

Shite: Mecham Fayisoring Devon

Shiga: Sinlation of Machanical Ssstoms

‘Shick and Vihar, Theory of Machines and Mechanioms
‘Staehert Refrain en Air Conionng
CONTENTS.

Chapter 1

Chapter 2

Chapter 3

Preface

The Geometry of Motion
1-1 furution 1-2 Analyas end Seathnis 1. The

Science of

Mechacies 1-4 Teonincloes. etnies, xt

‘Aetmpin 1-5 Planar, Sphvial. nd Spat
Mechinisnn 1-6 Mobily 1-7 Kinervatic Inversion
M4 Grashor Law 1-9 Mechesical Advanlige

F710 Couper Curves I-11 Straah-Line Mechanisms
E12 QuiekcRefurn Mechanisnt

Position

and Displacement

121 Coordinate Systems 22 Pasion of Point 23 The

Poston 2

erence between You Pots 2-4 The

‘Apparat Postion of» Point 2 Abele Poulton of

Pot 26

The Loop Chotee Exuation 27 Graphical

Posion Analysis of Planer Mechanics
25 Complex-Algehra Soltions of Pinte Vest

uation
ation
Lickiger

29 The Chace Soluoos 7 Pfenar Vector
2.0 Algae Poon Arai of Panar
HII Dyarlecemea of 2 Mow Pant

ZEA? Displacement erence between Toe Pols
5G Rotatln ape Transtalon 7-4 appareat
Dipiceinent 21S Absolute Dislaanent

Velocity

1 Dennen st Yeloelly 52 Rotation of a Rigid Body

33 vena
Right Body
Pobpgons

fy barerence between Poss of the Some
Sot Graphical Veluity Analyse, Veoulty
[M5 The Apparent Velocy of «Pelt ins
Chapter 4

Chapter §

Chapter 6

Chapter 7

Moning Cronsinate System 1.6 Apparent Anplar
Neloey 3 Diet Contact and Rating Contact

38 Vedoccy Aratse Using Complen Algebra

39 Veocty Analysis srg Vector Aleta

Sto Tesuatoncou Comer af Velocity tl The
‘Aroahald Kennody Taeorom of Troe Contes

SID Uncating Ista Contes of Veosity 3.1Y Velaciy
Analysis Using natant Centers 414 The
‘Annul-Valciy-Rao Theorem 7-15 trewenstein’s
‘Thotrem 316 Jnsenee uf Mort Mechanical Adantane
IT Cenmoder

Acceleration

‘41 Delinton of Acctlenaton £2 Angler Acceleration
of aligid Body 43 Acceleration Dsterence Yetwoen
Pointsef a Rigd Body 44 Graphical Acelersion
‘Analysis, Aceelration olygons 4% The Apparent
‘Aoeleaton ot 4 Point inx Moving Coordne System
{$8 Apparent Ati Acceeteten 47 Dest Coma!
fed Roving Concact 43. Analyt! Methods of
‘ccceration Aaalysin 45. The Insia Ceaer of
‘Acceleration 416 The CalerSvary Bava 4 the
Botiiee Constructions 412 The Cube of Sahoary
Carvatire

Numerical Methods in Kinematic Analysis.

5.1 Invodueson $2 Programing for an Become
‘Calestor $1 Programming the Chace Baeatione
$4 4 Computer Program lor Phar Mechuniet
[53 Gunerslind Mochaniset Alysia Progenms

Cam Design

6:1 Clnsfeaion af Cam and Fotowers
62 Dirtrooment Dizgrama 63 Grahied Lape of
Cam Protas 64 Derivatives ofthe Flom Maton
65 High Spend Cams 6 Stsdard Com Notoa:

7 Mulching Derivatives of Deplacement Diagrams
68 Potyeomal Cam Detign 69 Pte Com with
[Reciprocating Hut Face Pelower G1f| Plate Cam with
Feciprocating Poller Follower

Spar Gears
7H Tesminology 20d Deis 7-2 Pradamectal Law
of Toathot Gearing 7-3 lavolte Provenes

7 Inerchangeabe Gears, AUMA Starts

75 Faedamens of Gear-Toolh Acton "7-4 The
Forming of Grat Text 7-7 Iteceretoe and
Undeetting 7-8 Contact Ratly 2-5 Varying the Coice

16

183
Chapter 8

Chapter 9

Chapter 10

Chapter U

‘Chapter 12

Diane 710 Tnwolcometiy 44 Nonuandand Get
Tenth 7-2 The pleat Tooth Prfie

Helical, Worm, and Bevel Gears on
4 Pale Ads Hetioa Gears #2 Hales cear-Tooth

alata £3 Holal-ear‘Tooth Proves vers

Rot Comet af Haliea-Grac Teeth S Tlrrnghone

Gen 88 Crossed Avie Hilal Ges £7 Worm

Gearing 4 Sroight Tooth Bevel Gruss 3 Tooth

Proportion for Bevel Gear 410 (own ane Rise Gea

IT Spiral Bevel Gears 12 youd Gems

Mechanism Trains 10
941 Palle Ais Gear Trine and Pantone

92 Examples of Gent Trains 3-9 Determining “onth

Numbers 4 Epieyete Gea Tenna 25 Ravel Cewt

Encpeie Tins 96 Solon of Planetary Trains bP

Focmala 7 Tabular Analysis at Planetary Traits

98 Differentials

Synthevis of Linkages m

10-1 Type, Number, and Dimensional Shes
102 Functian Geaeraton, Path Generation, and Body
Gudance 10-3 Pevision Potions; Chehvchev Spucing
104 Postion Syathess of the Geveral Sider<Crack
‘Mcchurtm 103 Syatens at Urn and-Rocker
ects 168. Cramke Rocker MOchanisms th
Optimum T-sraission Atwbe 107 Thre Postion
Sather: 188 Poiat Postion Reductions Brat Precision
Points 109 The Overey Mettod E-I0 Coaphs Carrs
Synthese 1011 Cogeite Linkages: The
Romene"hehuches Theorem IDI Andie yntisia
Cog Comptes Alghes 1013 Froncendcin's Equation
TLL Syatbesis of Dell Mechanmg. I-18 tierntont
ouy Motion

Spatial Mechanisms a6

LU Introduction Spal Lishiges 1-7 Specat
Mechanisms 13 The Pesiioa Problem 1h Postinn
Baulydsof the RGCR Mechanism 11-5 Velo and
‘eceleration Analysis af the RGOR Linkage 1/6 The
Eeterisn Arges 11-7 A Theorem on Angiar Velostes
and Accelerations 11 The Hooke Univers Jot

Static Forces oy

12, ntcoducdon 122 Systems of Unity 123 Applied
sat Constraint Forces 124 Conditions foe Bavioctm
2S Freedindy Dagens 12 Calculating Progame
Chapter 13

Chapter 14

Chapter 15

Chapter 16

Chapter 17

12 Vw. god Tee Fince Members 128 PourForee
Neomere 129 Spire and Helical Gear Porc Aralju
‘sto Siradah Revel Gears 12-11 Preon-Fovee Models
IDI State Pree Anatpis with Festi,

Dynamic Forces

Det bid and Beste Body Force Analysis

162 Centuids and Canter a Mass +3 Moment of
ner 184 Iara Fores ad 'Alemiet Principle
1S The Pacple of Stpeipenton t6-An Cvample
of Grape Analyse 127 Rott abr a Finod Centr
11.8 Measorement of Moment of lori 13D Analysis
‘ti Faee Mechinieay 12-10 Shaking Forces ane
Moments 13.11 Computer Analysis

Dynamics of Reciprocating Engines

141 Fagine Types 142 Indicate agrome

143 Dymus Analyeie—Cheneral "Lee Gas Feces
145 Equivalent Mavses 14-6 Inertia Forces

147 Rearing Loads inthe Single Cinder Engle
168 Ceankshuf Porgue 1-9 Engine Shaking Fortes
10 Machine Compataon Hints

Ralancing

ISI Sue Unbaance 5.2 Bquaton of Maton

15. Sta Balancing Mechines 15-6 Dynamic
Unbalance 15-5 Analysis of Unhalance 1-6 Dynamic
Balancing. 17 Balancing Michnes "118 Field
lalancng wit tbe Prgramnable Calcator

15-9 Maloeing the Sngbe-Cyhoder Bre

Ig-18 Balance of Mtcyinde Fngines "1S ansing
Linkages 1-12 Balancing of Machines

‘Cam Dynamics
11) Rigid and Eiaste-buny Can Systeme 52. Analysis
‘of an Boveneis Cam 169 Effect of Siding Teston

TE Anaya of & Disk Cam with Beiprocsing Rater
Follower 165 Presramming for Comuner or Caleulator
Solution 166 Analysts of lonc Cam Stern

167 Unbalanoe, Soreg Some. xed Wiedop

Machine Dynamics

1-1 Pipwhedle 172 Grroscepee (73 Govemors
1-4 Measurement of Dynamic Response 1 Machine
Fouedions

Answers to Selected Problems

a

o

oy

a0

as

sa
Appendix se

Table 1 Standard SI kreices Table 2 Converse from
US. Customary Unis to St Unite Table 3 Comversion
fiona SI Unite fo US: Customary Units Tate 4
rogers of Areas fable # Hae Moments of Fert
Tanie © arvolte Puntions

Index «s