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 |  موضوع: كتاب Advanced Mechanism Design Analysis and Synthesis Vol. II الخميس 22 فبراير 2018, 11:43 pm | |
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Advanced Mechanism Design Analysis and Synthesis Vol. II (1984)
GEORGE IM. SANDOR, ARTHUR G. ERDMAN
ويتناول الموضوعات الأتية :
Contents
INTRODUCTION TO KINEMATICS AND MECHANISMS
1.1 Introduction 1
1.2 Motion 2
1.3 The Four-Bar Linkage 2
1.4 The Science of Relative Motion 5
1.5 Kinematic Diagrams 5
1.6 Six-Bar Chains 10
1.7 Degrees of Freedom 16
1.8 Analysis Versus Synthesis 24
Problems 25
INTRODUCTION TO KINEMATIC SYNTHESIS:
GRAPHICAL AND LINEAR ANALYTICAL METHODS
2.1 Introduction 49
2.2 Tasks of Kinematic Synthesis 52
2.3 Number Synthesis: The Associated Linkage Concept 64
2.4 Tools of Dimensional Synthesis 75
2.5 Graphical Synthesis - Motion Generation: Two Prescribed Positions 76
2.6 Graphical Synthesis - Motion Generation: Three Prescribed Positions 78
2.7 Graphical Synthesis for Path Generation: Three Prescribed Positions 79
vvi Contents
2.8 Path Generation with Prescribed Timing : Three Prescribed Positions 81
2.9 Graphical Synthesis for Path Generation (without Prescribed Timing):
Four Positions 82
2.10 Function Generator: Three Precision Points 85
2.11 The Overlay Method 87
2.12 Analytical Synthesis Techniques 89
2.13 Complex Number Modeling in Kinematic Synthesis 90
2.14 The Dyad or Standard Form 92
2.15 Number of Prescribed Positions versus Number of Free Choices 94
2.16 Three Prescribed Positions for Motion, Path,
and Function Generation 97
2.17 Three-Precision-Point Synthesis Program for Four-Bar Linkages 103
2.18 Three-Precision-Point Synthesis: Analytical versus Graphical 110
2.19 Extension of Three-Precision-Point Synthesis to Multiloop Mechanisms 112
2.20 Circle-Point and Center-Point Circles 114
2.21 Ground-Pivot Specification 122
2.22 Freudenstein's Equation for Three-Point Function Generation 127
2.23 Loop-Closure-Equation Technique 130
2.24 Order Synthesis: Four-Bar Function Generation 133
Appendix: Case Study - Type Synthesis of Casement Window
Mechanisms 136
Problems 157
KINEMATIC SYNTHESIS OF LINKAGES: ADVANCED TOPICS 177
3.1 Introduction 177
3.2 Motion Generation with Four Prescribed Positions 177
3.3 Solution Procedure for Four Prescribed Positions 180
3.4 Computer Program for Four Prescribed Precision Points 184
3.5 Four Prescribed Motion-Generation Positions :
Superposition of Two Three-Precision-Point Cases 188
3.6 Special Cases of Four-Position Synthesis 191
3.7 Motion Generation: Five Positions 199
3.8 Solution Procedure for Five Prescribed Positions 202
3.9 Extensions of Burmester Point Theory: Path Generation
with Prescribed Timing and Function Generation 204
3.10 Further Extension of Burmester Theory 211
3.11 Synthesis of Multiloop Linkages 216
3.12 Applications of Dual-Purpose Multiloop Mechanisms 218
3.13 Kinematic Synthesis of Geared Linkages 230
3.14 Discussion of Multiply separated Position Synthesis 239
Appendix A3.1: The LINCAGES Package
5.17 Balancing - Appendix A: The Physical Pendulum 472
5.18 Balancing - Appendix B: The Effect of
Counterweight Configuration on Balance 482
5.19 Analysis of High-Speed Elastic Mechanisms 483
5.20 Elastic Beam Element in Plane Motion 486
5.21 Displacement Fields for Beam Element 482
5.22 Element Mass and Stiffness Matrices 490
5.23 System Mass and Stiffness Matrices 493
5.24 Elastic Linkage Model 495
5.25 Construction of Total System Matrices 497
5.26 Equations of Motion 501
5.27 Damping in Linkages 502
5.28 Rigid-Body Acceleration 505
5.29 Stress Computation 505
5.30 Method of Solution 506
Problems 530
SPATIAL MECHANISMS-WITH AN INTRODUCTION TO
ROBOTICS
6.1 Introduction 543
6.2 Transformations Describing Planar Finite Displacements 552
6.3 Planar Finite Transformations 552
6.4 Identity Transformation 555
6.5 Planar Matrix Operator for Finite Rotation 555
6.6 Homogeneous Coordinates and Finite Planar Translation 556
6.7 Concatenation of Finite Displacements 558
6.8 Rotation about an Axis not through the Origin 561
6.9 Rigid-Body Transformations 563
6.10 Spatial Transformations 564
6.11 Analysis of Spatial Mechanisms 584
6.12 Link and Joint Modeling with Elementary Matrices 590
6.13 Kinematic Analysis of an Industrial Robot 603
6.14 Position Analysis 619
6.15 Velocity Analysis 623
6.16 Acceleration Analysis 624
6.17 Point Kinematics in Three-Dimensional Space 627
6.18 Example: Kinematic Analysis of a Three-Dimensional Mechanism 630
6.19 Vector Synthesis of Spatial Mechanisms 635
Problems 641
Exercises 653
REFERENCES
INDEX
666
6854 5
Contents
CURVATURE THEORY
4.1 Introduction 301
4.2 Fixed and Moving Centrodes 301
4.3 Velocities 305
4.4 Accelerations 313
4.5 Inflection Points and the Inflection Circle 315
4.6 The Euler-Savary Equation 320
4.7 Bobillier's Constructions 327
4.8 The Collineation Axis 330
4.9 Bobillier's Theorem 331
4.10 Hartmann's Construction 332
4.11 The Bresse Circle 336
4.12 The Acceleration Field 338
4.13 The Return Circle 340
4.14 Cusp Points 342
4.15 Crunode Points 343
4.16 The p Curve 343
4.17 The Cubic of Stationary Curvature or Burmester's
Circle-Point and Center-Point Curves for Four
Infinitesimally Close Positions of the Moving Plane 345
4.18 The Circle-Point Curve and Center-Point Curve for Four ISPs 352
4.19 Ball's Point 354
Problems 356
Exercises 362
DYNAMICS OF MECHANISMS: ADVANCED CONCEPTS
5.1 Introduction 366
5.2 Review of Kinetostatics Using the Matrix Method 367
5.3 Time Response 377
5.4 Modification of the Time Response of Mechanisms 387
5.5 Virtual Work 390
5.6 Lagrange Equations of Motion 396
5.7 Free Vibration of Systems with One Degree of Freedom 411
5.8 Decay of Free Vibrations 415
5.9 Forced Vibrations of Systems with One Degree of Freedom 418
5.10 Rotor Balancing 428
5.11 Introduction to Force and Moment Balancing of Linkages 435
5.12 Optimization of Shaking Moments 436
5.13 Shaking Moment Balancing 446
5.14 Effect of Moment Balance on Input Torque 463
5.15 Other Techniques for Balancing Linkages 469
5.16 Computer Program for Force and Moment Balance
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