Table Of Content

Theory of Machines and Mechanisms Theory of Machines and Mechanisms Fifth Edition John J. Uicker, Jr. ProfessorEmeritusofMechanicalEngineering UniversityofWisconsin–Madison Gordon R. Pennock AssociateProfessorofMechanicalEngineering PurdueUniversity Joseph E. Shigley LateProfessorEmeritusofMechanicalEngineering TheUniversityofMichigan NewYork Oxford OXFORDUNIVERSITYPRESS OxfordUniversityPressisadepartmentoftheUniversityofOxford. ItfurtherstheUniversity’sobjectiveofexcellenceinresearch, scholarship,andeducationbypublishingworldwide. OxfordisaregisteredtrademarkofOxfordUniversityPress intheUKandcertainothercountries. PublishedintheUnitedStatesofAmericabyOxfordUniversityPress 198MadisonAvenue,NewYork,NY10016,UnitedStatesofAmerica. Copyright(cid:2)c 2017,2011,2003byOxfordUniversityPress;1995,1980byMcGraw-Hill FortitlescoveredbySection112oftheUSHigherEducation OpportunityAct,pleasevisitwww.oup.com/us/heforthelatest informationaboutpricingandalternateformats. Allrightsreserved.Nopartofthispublicationmaybereproduced, storedinaretrievalsystem,ortransmitted,inanyformorbyanymeans, withoutthepriorpermissioninwritingofOxfordUniversityPress, orasexpresslypermittedbylaw,bylicense,orundertermsagreed withtheappropriatereproductionrightsorganization.Inquiriesconcerning reproductionoutsidethescopeoftheaboveshouldbesenttotheRightsDepartment, OxfordUniversityPress,attheaddressabove. Youmustnotcirculatethisworkinanyotherform andyoumustimposethissameconditiononanyacquirer. LibraryofCongressCataloging-in-PublicationData Names:Uicker,JohnJoseph,author.|Pennock,G.R.,author.|Shigley, JosephEdwardauthor. Title:Theoryofmachinesandmechanisms/JohnJ.Uicker,Jr.,Professor EmeritusofMechanicalEngineering,UniversityofWisconsin–Madison, GordonR.Pennock,AssociateProfessorofMechanicalEngineering,Purdue University,JosephE.Shigley,LateProfessorEmeritusofMechanical Engineering,TheUniversityofMichigan. Description:Fifthedition.|NewYork:OxfordUniversityPress,2016.| First-secondeditionsbyJosephE.Shigley.|Includesbibliographical referencesandindex. Identifiers:LCCN2016007605|ISBN9780190264482 Subjects:LCSH:Mechanicalengineering. Classification:LCCTJ145.U332016|DDC621.8–dc23LCrecordavailableathttps://lccn.loc.gov/2016007605 9 8 7 6 5 4 3 2 1 PrintedbyEdwardsBrothersMalloy PrintedintheUnitedStatesofAmerica Thistextbookisdedicatedtothememoryofmyparents,JohnJ.Uicker,EmeritusDeanof Engineering,UniversityofDetroit,ElizabethF.Uicker,andtomysixchildren,TheresaA. Zenchenko,JohnJ.UickerIII,JosephM.Uicker,DorothyJ.Winger,BarbaraA.Peterson, andJoanE.Horne. —JohnJ.Uicker,Jr. Thisworkisalsodedicatedfirstandforemosttomywife,MollieB.,andmyson,Callum R.Pennock.Theworkisalsodedicatedtomyfriendandmentor,thelateDr.An(Andy) TzuYang,andmycolleaguesintheSchoolofMechanicalEngineering,PurdueUniversity, WestLafayette,Indiana. —GordonR.Pennock Finally, this text is dedicated to the memory of the late Joseph E. Shigley, Professor Emeritus, Mechanical Engineering Department, University of Michigan, Ann Arbor. Although this fifth edition contains significant changes from earlier editions, the text remainsconsistentwithhispreviouswritings. Contents PREFACE xvii ABOUTTHEAUTHORS xxv Part1 KINEMATICSANDMECHANISMS 1 1 TheWorldofMechanisms 3 1.1 Introduction 3 1.2 AnalysisandSynthesis 4 1.3 ScienceofMechanics 4 1.4 Terminology,Definitions,andAssumptions 6 1.5 Planar,Spheric,andSpatialMechanisms 10 1.6 Mobility 12 1.7 CharacteristicsofMechanisms 17 1.8 KinematicInversion 32 1.9 Grashof’sLaw 33 1.10 MechanicalAdvantage 36 1.11 References 39 Problems 40 2 Position,Posture,andDisplacement 48 2.1 LocusofaMovingPoint 48 2.2 PositionofaPoint 51 2.3 PositionDifferenceBetweenTwoPoints 53 2.4 ApparentPositionofaPoint 54 2.5 AbsolutePositionofaPoint 55 2.6 PostureofaRigidBody 56 2.7 Loop-ClosureEquations 57 2.8 GraphicPostureAnalysis 62 2.9 AlgebraicPostureAnalysis 69 2.10 Complex-AlgebraicSolutionsofPlanarVectorEquations 73 2.11 ComplexPolarAlgebra 74 2.12 PostureAnalysisTechniques 78 2.13 Coupler-CurveGeneration 86 vii viii CONTENTS 2.14 DisplacementofaMovingPoint 89 2.15 DisplacementDifferenceBetweenTwoPoints 89 2.16 TranslationandRotation 91 2.17 ApparentDisplacement 92 2.18 AbsoluteDisplacement 94 2.19 ApparentAngularDisplacement 94 2.20 References 98 Problems 99 3 Velocity 105 3.1 DefinitionofVelocity 105 3.2 RotationofaRigidBody 106 3.3 VelocityDifferenceBetweenPointsofaRigidBody 109 3.4 VelocityPolygons;VelocityImages 111 3.5 ApparentVelocityofaPointinaMovingCoordinateSystem 119 3.6 ApparentAngularVelocity 126 3.7 DirectContactandRollingContact 126 3.8 SystematicStrategyforVelocityAnalysis 128 3.9 AlgebraicVelocityAnalysis 129 3.10 Complex-AlgebraicVelocityAnalysis 131 3.11 MethodofKinematicCoefficients 135 3.12 InstantaneousCentersofVelocity 145 3.13 Aronhold-KennedyTheoremofThreeCenters 147 3.14 LocatingInstantaneousCentersofVelocity 149 3.15 VelocityAnalysisUsingInstantCenters 153 3.16 Angular-Velocity-RatioTheorem 156 3.17 RelationshipsBetweenFirst-OrderKinematicCoefficients andInstantCenters 157 3.18 Freudenstein’sTheorem 160 3.19 IndicesofMerit;MechanicalAdvantage 162 3.20 Centrodes 164 3.21 References 166 Problems 167 4 Acceleration 180 4.1 DefinitionofAcceleration 180 4.2 AngularAcceleration 183 4.3 AccelerationDifferenceBetweenPointsofaRigidBody 183 4.4 AccelerationPolygons;AccelerationImages 192 4.5 ApparentAccelerationofaPointinaMovingCoordinateSystem 196 CONTENTS ix 4.6 ApparentAngularAcceleration 205 4.7 DirectContactandRollingContact 206 4.8 SystematicStrategyforAccelerationAnalysis 212 4.9 AlgebraicAccelerationAnalysis 213 4.10 Complex-AlgebraicAccelerationAnalysis 214 4.11 MethodofKinematicCoefficients 216 4.12 Euler-SavaryEquation 225 4.13 BobillierConstructions 230 4.14 InstantaneousCenterofAcceleration 234 4.15 BresseCircle(ordeLaHireCircle) 235 4.16 RadiusofCurvatureofaPointTrajectoryUsingKinematic Coefficients 239 4.17 CubicofStationaryCurvature 242 4.18 References 249 Problems 250 5 Multi-Degree-of-FreedomMechanisms 258 5.1 Introduction 258 5.2 PostureAnalysis;AlgebraicSolution 262 5.3 VelocityAnalysis;VelocityPolygons 263 5.4 InstantaneousCentersofVelocity 265 5.5 First-OrderKinematicCoefficients 268 5.6 MethodofSuperposition 273 5.7 AccelerationAnalysis;AccelerationPolygons 276 5.8 Second-OrderKinematicCoefficients 278 5.9 PathCurvatureofaCouplerPointTrajectory 285 5.10 FiniteDifferenceMethod 289 5.11 Reference 292 Problems 292 Part2 DESIGNOFMECHANISMS 295 6 CamDesign 297 6.1 Introduction 297 6.2 ClassificationofCamsandFollowers 298 6.3 DisplacementDiagrams 300 6.4 GraphicLayoutofCamProfiles 303 6.5 KinematicCoefficientsofFollower 307 6.6 High-SpeedCams 312 6.7 StandardCamMotions 313