Using computational techniques and a complex variable formulation, this book teaches the student of kinematics to handle increasingly difficult problems in both the analysis and design of mechanisms all based on the fundamental loop closure equation.
Inhaltsverzeichnis
1;Front Cover;1 2;Analytical Kinematics: Analysis and Synthesis of Planar Mechanisms;4 3;Copyright Page;5 4;Table of Contents;8 5;Dedication;6 6;Preface;12 7;PART I: KINEMATIC PRELIMINARIES;16 7.1;Chapter 1. Mechanisms and Their Abstractions;18 7.1.1;Seven Modern Mechanisms;19 7.1.2;Joints and Links: Lower Pairs and Higher Pairs;23 7.1.3;Mobility;27 7.1.4;Equivalent Mechanisms and Kinematic Inversion;33 7.1.5;Abstraction of Some Real Mechanisms;35 7.2;Chapter 2. Bar Linkages;38 7.2.1;Four-Bar Linkages;39 7.2.2;Six-Bar Linkages;43 7.2.3;Linkages with More Than Six Bars;46 7.2.4;Exercises;47 8;PART II: MATHEMATICAL PRELIMINARIES;50 8.1;Chapter 3. Mechanisms, Coordinate Systems, and Vectors;52 8.1.1;The Frame of Reference;52 8.1.2;Vector Analysis;53 8.1.3;Mechanisms as Vector Chains;55 8.1.4;Exercises;59 8.2;Chapter 4. Complex Variables;60 8.2.1;Historical Origins;60 8.2.2;Arithmetic;62 8.2.3;Graphical Representation;63 8.2.4;Roots and the Quadratic Formula;69 8.2.5;Vector Operations;70 8.2.6;Differentiation;71 8.2.7;Exercises;72 9;PART III: KINEMATICS I: ANALYSIS ;74 9.1;Chapter 5. Position Analysis of Bar Linkages;76 9.1.1;The Loop-Closure Equation for Four-Link Mechanisms;76 9.1.2;Direct Methods of Solution;77 9.1.3;Algorithms for Computation;84 9.1.4;Coupler Curves;86 9.1.5;Indirect Methods of Solution;89 9.1.6;Exercises;103 9.2;Chapter 6. Velocity and Acceleration of Bar Linkages;106 9.2.1;Calculation of Velocity and Acceleration;108 9.2.2;The Physical Nature of Velocity and Acceleration;111 9.2.3;Velocity and Acceleration Analysis of Six-Bar and Higher Linkages;114 9.2.4;Velocity Analysis of Singular Mechanisms;115 9.2.5;Exercises;117 9.3;Chapter 7. Higher Pairs: Analysis of Gears and Cams;120 9.3.1;Wheels and Gears;120 9.3.2;Cams;134 9.3.3;Exercises;146 10;PART IV: KINEMATICS II: SYNTHESIS;148 10.1;Chapter 8. Dimensional Synthesis of Four-Link Mechanisms;150 10.1.1;Analytic Synthesis;153 10.1.2;Exercises;168 10.2;Chapter 9. Further Topics in Synthesis;170 10.2.1
;Path Synthesis for Four-Bar Linkages Using Indirect Methods;170 10.2.2;Introduction to Six-Bar Systems;176 10.2.3;Function Generation and the Choice of Precision Points;178 10.2.4;Generalizations;182 10.2.5;Exercises;184 11;PART V: FORCES AND MOMENTS;186 11.1;Chapter 10. Fundamentals of Kinetic Analysis;188 11.1.1;Forces, Moments, Resultants, and the Free-Body Diagrams;189 11.1.2;Inertial Forces;193 11.1.3;The Slider Crank;196 11.1.4;Exercises;198 11.2;Chapter 11. Friction and Inertia;202 11.2.1;Friction;204 11.2.2;Inertia;212 11.2.3;Force- and Torque-Driven Systems;223 11.2.4;Reaction Forces, Inertia, and Balance;233 11.2.5;Exercises;237 12;References;240 13;Author Index;242 14;Subject Index;244
