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Kinematics Dynamics and Design of Machinery 3rd edition by Kenneth Waldron, Gary Kinzel, Sunil Agrawal ISBN 1118933329 978-1118933329

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ISBN 10: 1118933329
ISBN 13: 978-1118933329
Author: Kenneth Waldron, Gary Kinzel, Sunil Agrawal

Kinematics, Dynamics, and Design of Machinery, Third Edition, presents a fresh approach to kinematic design and analysis and is an ideal textbook for senior undergraduates and graduates in mechanical, automotive and production engineering

  • Presents the traditional approach to the design and analysis of kinematic problems and shows how GCP can be used to solve the same problems more simply
  • Provides a new and simpler approach to cam design
  • Includes an increased number of exercise problems
  • Accompanied by a website hosting a solutions manual, teaching slides and MATLAB® programs

Kinematics Dynamics and Design of Machinery 3rd Table of contents:

1 Introduction

  • Historical Perspective

  • Kinematics

  • Design: Analysis and Synthesis

  • Mechanisms

  • Planar Linkages

  • Visualization

  • Constraint Analysis

  • Constraint Analysis of Spatial Linkages

  • Idle Degrees of Freedom

  • Overconstrained Linkages

  • Uses of the Mobility Criterion

  • Inversion

  • Reference Frames

  • Motion Limits

  • Continuously Rotatable Joints

  • Coupler-Driven Linkages

  • Motion Limits for Slider-Crank Mechanisms

  • Interference

  • Practical Design Considerations

  • References

  • Problems

2 Techniques in Geometric Constraint Programming

  • Introduction

  • Geometric Constraint Programming

  • Constraints and Program Structure

  • Initial Setup for a GCP Session

  • Drawing a Basic Linkage Using GCP

  • Troubleshooting Graphical Programs Developed Using GCP

  • References

  • Problems

Appendix 2A – Drawing Slider Lines, Pin Bushings, and Ground Pivots

  • Slider Lines

  • Pin Bushings and Ground Pivots

Appendix 2B – Useful Constructions When Equation Constraints Are Not Available

  • Constrain Two Angles to Be Integral Multiples of Another Angle

  • Constrain a Line to Be Half the Length of Another Line

  • Construction for Scaling

  • Construction for Square Ratio v²/r

  • Construction for Function x = yz/r

3 Planar Linkage Design

  • Introduction

  • Two-Position Double-Rocker Design

  • Synthesis of Crank-Rocker Linkages for Specified Rocker Amplitude

  • Motion Generation

  • Path Synthesis

  • References

  • Problems

4 Graphical Position, Velocity, and Acceleration Analysis for Mechanisms with Revolute Joints or Fixed Slides

  • Introduction

  • Graphical Position Analysis

  • Planar Velocity Polygons

  • Graphical Acceleration Analysis

  • Graphical Analysis of a Four-Bar Mechanism

  • Graphical Analysis of a Slider-Crank Mechanism

  • Velocity Image Theorem

  • Acceleration Image Theorem

  • Solution by Geometric Constraint Programming

  • References

  • Problems

5 Linkages with Rolling and Sliding Contacts, and Joints on Moving Sliders

  • Introduction

  • Reference Frames

  • General Velocity and Acceleration Equations

  • Special Cases for the Velocity and Acceleration Equations

  • Linkages with Rotating Sliding Joints

  • Rolling Contact

  • Cam Contact

  • General Coincident Points

  • Solution by Geometric Constraint Programming

  • Problems

6 Instant Centers of Velocity

  • Introduction

  • Definition

  • Existence Proof

  • Location of an Instant Center from the Directions of Two Velocities

  • Instant Center at a Revolute Joint

  • Instant Center of a Curved Slider

  • Instant Center of a Prismatic Joint

  • Instant Center of a Rolling Contact Pair

  • Instant Center of a General Cam-Pair Contact

  • Centrodes

  • The Kennedy-Aronhold Theorem

  • Circle Diagram as a Strategy for Finding Instant Centers

  • Using Instant Centers to Find Velocities: The Rotating-Radius Method

  • Finding Instant Centers Using Geometric Constraint Programming

  • References

  • Problems

7 Computational Analysis of Linkages

  • Introduction

  • Position, Velocity, and Acceleration Representations

  • Analytical Closure Equations for Four-Bar Linkages

  • Analytical Equations for a Rigid Body after the Kinematic Properties of Two Points Are Known

  • Analytical Equations for Slider-Crank Mechanisms

  • Other Four-Bar Mechanisms with Revolute and Prismatic Joints

  • Closure or Loop Equation Approach for Compound Mechanisms

  • Closure Equations for Mechanisms with Higher Pairs

  • Notational Differences: Vectors and Complex Numbers

  • Problems

8 Special Mechanisms

  • Special Planar Mechanisms

  • Spherical Mechanisms

  • Constant-Velocity Couplings

  • Automotive Steering and Suspension Mechanisms

  • Indexing Mechanisms

  • References

  • Problems

9 Computational Analysis of Spatial Linkages

  • Spatial Mechanisms

  • Robotic Mechanisms

  • Direct Position Kinematics of Serial Chains

  • Inverse Position Kinematics

  • Rate Kinematics

  • Closed-Loop Linkages

  • Lower-Pair Joints

  • Motion Platforms

  • References

  • Problems

10 Profile Cam Design

  • Introduction

  • Cam-Follower Systems

  • Synthesis of Motion Programs

  • Analysis of Different Types of Follower-Displacement Functions

  • Determining the Cam Profile

  • References

  • Problems

11 Spur Gears

  • Introduction

  • Spur Gears

  • Condition for Constant-Velocity Ratio

  • Involutes

  • Gear Terminology and Standards

  • Contact Ratio

  • Involutometry

  • Internal Gears

  • Gear Manufacturing

  • Interference and Undercutting

  • Nonstandard Gearing

  • Cartesian Coordinates of an Involute Tooth Generated with a Rack

  • References

  • Problems

12 Helical, Bevel, and Worm Gears

  • Helical Gears

  • Worm Gears

  • Involute Bevel Gears

  • References

  • Problems

13 Gear Trains

  • General Gear Trains

  • Direction of Rotation

  • Simple Gear Trains

  • Compound Gear Trains

  • Planetary Gear Trains

  • Harmonic Drive Speed Reducers

  • References

  • Problems

14 Static Force Analysis of Mechanisms

  • Introduction

  • Forces, Moments, and Couples

  • Static Equilibrium

  • Free-Body Diagrams

  • Solution of Static Equilibrium Problems

  • Transmission Angle in a Four-Bar Linkage

  • Friction Considerations

  • In-Plane and Out-of-Plane Force Systems

  • Conservation of Energy and Power

  • Virtual Work

  • Gear Loads

  • Problems

15 Dynamic Force Analysis of Mechanisms

  • Introduction

  • Problems Solvable Using Particle Kinetics

  • Dynamic Equilibrium of Systems of Rigid Bodies

  • Flywheels

  • Problems

16 Static and Dynamic Balancing

  • Introduction

  • Single-Plane (Static) Balancing

  • Multi-Plane (Dynamic) Balancing

  • Balancing Reciprocating Masses

  • Expressions for Inertial Forces

  • Balancing Multi-Cylinder Machines

  • Static Balancing of Mechanisms

  • Reactionless Mechanisms

  • References

  • Problems

17 Integration of Computer Controlled Actuators

  • Introduction

  • Computer Control of the Linkage Motion

  • The Basics of Feedback Control

  • Actuator Selection and Types

  • Hands-On Machine-Design Laboratory

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