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| حل كتاب Kinematics, Dynamics, and Design of Machinery Solution Manual | |
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Admin مدير المنتدى
عدد المساهمات : 19002 التقييم : 35506 تاريخ التسجيل : 01/07/2009 الدولة : مصر العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| موضوع: حل كتاب Kinematics, Dynamics, and Design of Machinery Solution Manual الخميس 29 ديسمبر 2011, 11:16 pm | |
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تذكير بمساهمة فاتح الموضوع : أخوانى فى الله أحضرت لكم حل كتاب Kinematics, Dynamics, and Design of Machinery Solution Manual K. J. Waldron, G. L. Kinzel مسائل محلولة فى نظرية الماكينات Theory of Machines Problems Solution Manual
ويتناول الموضوعات الأتية :
CONTENTS CHAPTER 1 INTRODUCTION 1 CHAPTER* LINKAGES WITH ROLLING AND SLIDING CONTACTS AND JOINTS ON MOVING SLIDERS % Historic Perspective 1 Kinematics 2 Design: Analysis and Synthesis 2 Mechanisms 3 Planar Linkages 7 Visualization 9 C'onstraint Analysis 11 Constraint Analysis of Spatial Linkages 18 Idle Degrees of Freedom 23 1.10 Overconstrained Linkages 25 1..11 Uses of the Mobility Criterion 29 1.12 Inversion 30 1.13 Reference Frames 1.14 Motion Limits 1.15 Actuation 32 1.16 Coupler-Driven Linkages 37 1.17 Motion Limits for Slider-Crank Mechanism 38 !.IS Interference 40 1.19 Practical Design Considerations 44 1.19.1 Revolute Joints 44 1.19.2 Prismatic Joints 46 1.19.3 Higher Pairs 47 1.19.4 Cams vs. Linkages 47 1.19.5 Actuation 48 Problems 54 1.1 1.2 . 3.1 Introduction 96 Reference Frames 96 General Velocity and Acceleration Equations 98 Velocity Equations 98 Acceleration Equations 101 Chain Rule for Positions , Velocities, and Accelerations 101 1.3 3.-2 1.4 3.3 1.5 3.3.1 1.6 3.3 2 1 7 3.3.3 1 1.9 3.4 Special Cases for the Velocity and Acceleration Equations 104 3.4.1 Points?and حFixed to ة104 ?and حAre Coincident 105 p and (9 Are Coincident and in Rolling Contact 105 3.4.2 3.4.3 3.5 linkages with Rotating Sliding Joints 106 Rolling Contact 111 3.6.1 Basic Kinematic Relationships for Rolling Contact 112 3.6.2 Modeling Rolling Contact Using a Virtual Linkage 118 Cam Contact 121 3.7.1 Direct Approach to the Analysis of Cam Contact 121 3.7.2 Analysis of Cam Contact Using Equivalent linkages 124 General Coincident Points 128 3.8.1 Velocity Analyses Involving General Coincident Points 130 3.8.2 Acceleration Analyses Involving General Coincident Points 130 3.6 3.7 3 CHAPTER * GRAPHICAL POSITION, VELOCITY, AND ACCELERATION ANALYSIS FOR MECHANISMS WITH REVOLUTE JOINTS OR FIXED SLIDES 60 Problems 136 2.1 .Introduction 60 Graphical Position Analysis 61 2.3 Planar Velocity Polygons 62 2.4 Graphical Acceleration Analysis 65 2.5 Graphical Analysis ofa Four-Bar Mechanism 67 2.6 Graphical Analysis of a Slider-Crank Mechanism 74 The Velocity Image Theorem 76 2.8 The Acceleration Image Theorem 79 2.9 Solution by Inversion 84 Problems 89 2 .2 CHAPTER 4 INSTANT CENTERS OF VELOCITY 145 Introduct.ion 145 Definition 145 Existence Proof 146 Tocation of an Instant Center from the Directions of Two Velocities 147 Instant Center at a Rcvolutc Joint 148 Instant Center of a Curved Slider 148 4.1 4.2 4.3 2 7 4.4 4.5 4.6 ؛؛VV ؛؛؛CONTENTS Analytical Equations for tlie Slider-Crank Inversion 200 5.6.1 Instant Center of a Prismatic Joint 148 5.6 Instant Center ofa Rolling Contact Pair 149 Instant Center of a General Cam-Pair Contact 149 Centrodes 150 4.11 The Kcnnedy-Aronholdt Theorem 153 4.12 Circle Diagram as a Strategy for Finding Instant Centers 155 4.13 Using Instant Centers: Tlie Rotating-Radius Method 156 4.14 Finding Instant Centers Using Drafting Programs 164 Problems 165 4.7 4. Solution to Position Equations When 02 Is Input 202 Solution to Position Equations When 6 ] Is Input 204 Solution to Position Equations Wlicn f ) Is Input 204 Velocity Equations for tlie Slider-Crank Inversion 205 Acceleration Equations for the Slider-Crank Inversion 207 Analytical Equations for an R PR p Mechanism 211 Solution of Closui'e Equations When 02 Is Known 212 Solution ofClosure Equations When rA Is Known 213 Solution of Closure Equations When 12 Is Known 215 Velocity and Acceleration Equations for an RPRP Mechanism 216 4.9 4.1 5.6.2 5 6 3 5.6.4 5.6.5 5 7 5 7 1 CHAPTER 5 ANALYTICAL LINKAGE ANALYSIS 171 5 7 2 5.1 Introduction 171 5.2 Position, Velocity, and Acceleration Representations 172 5.2.1 Position Representation 172 5.2.2 Velocity Representation 172 5.2.3 Acceleration Representation 174 5.2.4 Special Cases 175 5.2.5 Mechanisms to Be Considered 175 5.7.3 5.7.4 Analytical Equations for an RRPP Mechanism 218 5.8.1 5.8.2 5.8.3 5.8 Solution When 02 Is Known 219 Solution Vv'hcn /0! Is Known 220 Solution When 12 Is Known 221 Analytical Equations for Elliptic Trammel 223 5.9. 1 Analysis When 0] Is Known 224 5.9.2 Analysis When 2| Is Known 225 5.1(.) Analytical Equations for tlie Oldham Mecltanism 228 5.10. 1 Analysis When 02 Is Known 229 5.10.2 Analysis When 22 Is Known 230 5.11 Closure or Loop-Equation Approach for Compound Mechanisms 233 5.11. 1 Handling Points Not on the Vector Loops 236 5.11.2 Solving the Position Equations 237 5.12 Closure Equations for Mechanisms with Higher Pairs 243 5.13 Notational Differences: Vectors and Complex Numbers 248 Problems 251 Analytical Closure Equations for Four-Bar Linkages 175 5.3. 1 5.3 Solution of Closure Equations for 5 9 Four-Bar Linkages V7hen Link 2 Is tlie Driver 176 5.3.2 Analysis When the Coupler (Link 3) Is the Driving Link 179 5.3.3 Velocity Equations for Four-Bar Linkages 179 5.3.4 Acceleration Equations for Four-Bar Linkages 181 5.4 Analytical Equations for a Rigid Body after the Kinematic Properties of Two Points Arc Known 184 5.5 Analytical Equations for Slider-Crank Mechanisms 187 Solution to Position Equations When 02 Is Input 190 Solution to Position Equations When 2| Is Input 192 5.5.3 Solutioji to Position Equations When 0} Is Input 193 5.5.4 Velocity Equations for Slider-Crank Mechanism 194 5.5.5 Acceleration Equations for Slider-Crank Mechanism 195 5.5 5.5 2 PLANAR LINKAGE DESIGN الا?ة 6.1 Introduction 257 Two-Position Double-Rocker Design 260 6.2. 1 6.2 Graphical Soltition Procedure 260 6 ,2 ,2 Analytical Solution Procedure 261CONTENTS I X 6.3 Motion Generation 263 6.3.1 7.1.3 Exact Straight-Line Mechanisms 332 7.1.4 Pantographs 333 Spherical Linkages 340 2.1 Introduction 340 ,2 Gimbals 343 3 Universal Joints 343 Constant-Velocity Couplings 347 3.1 Geometric Requirements of ConstantVelocity Couplings 347 Practical Constant-Velocity Couplings 347 Automotive Steering and Suspension Mechanisms 349 7.4. 1 Introduction 349 7.4.2 Steering Mechanisms 349 7.4.3 Suspension Mechanisms 353 Indexing Mechanisms 354 Geneva Mechanisms 354 Introduction 263 Two Positions 263 Three Positions with Selected Moving Pivots 266 Synthesis of a Crank with Chosen Fixed Pivots 266 Design of Slider-Cranks and Elliptic Trammels 268 Grder Problem and Change of Brandi 270 Analytical Approach to Rigid-Body Guidance 276 6.3 2 7 2 6.3.3 7 7 ,2 6.3.4 7 ,2 7 3 6 3.5 7 6.3.6 7 3 ,2 611 7.4 6.4 Function Generation 283 6.4.1 Function Generation Using a Four-Bar Linkage 285 Design Procedure Wheny0= >Y-V Is to Be Generated 287 Selection of Design Positions 288 Summary of Solution Procedure for Four-Bar Linkage and Three Precision Points 289 Graphical Approach to Function Generation 293 6.4.2 7 5 7.5 1 6.4.3 References 359 6.4.4 Problems 360 6.4.5 CHAPTER ةPRGFILE CAM DESIGN 362 Synthesis of Crank-Rocker Linkages for specified Rocker Amplitude 294 Extreme Rocker Positions and Simple Analytical Solution 294 Tlie Rocker Amplitude Problem: Graphical Approach 295 Transmission Angle 300 Alternative Graphical Design Procedure Based on Specification of 06-04 301 Analytical Design Procedure Based on Specification of 02-04 304 Use of Analytical Design Pi'ocedurc. for Optimization 307 6.5 8.1 Introduction 362 Cam-Follower Systems 363 Syntliesis of Motion Programs 364 Analysis of Different Types of Follower Displacement Functions 366 Uniform Motion 367 Parabolic Motion 368 Flarmonic Follower-Displacement Programs 373 Cycloidal Follower-Displacement Programs 375 General Polynomial Follower-Displacement Programs 376 8.1() Determining the Cam Profile 381 8.10.1 Graphical Cam Profile Layout 381 8.10.2 Analytical Determination of Cam Profile 391 8.2 6 5.1 3 8.4 6.5.2 8.5 6.5.3 8.6 6.5.4 7 6.5.5 8.8 8.9 Path Synthesis 308 6.6.1 6 Design of Six-Bar Linkages Using Coupler Curves 309 Motion Generation for Parallel Motion Using Coupler Curves 315 Four-Bar Cognate Linkages 318 6.61 References 6.6.3 Problems 417 References 320 Problems 321 CHAPTER 9 SPATIAL LINKAGE ANALYSIS 421 Spatial Mechanisms 421 9.1. 1 Introduction 421 1.2 Velocity and Acceleration Relationships 422 Robotic Mechanisms 428 9.1 CHAPTER 1 SPECIAL MECHANISMS ?لا2?لا 1 Special Planar Mechanisms 329 1.1 Introduction 329 1.2 Approximate Straight-Line Mechanisms 329 7 9 77 ت 9X CONTENTS 9.3 Direct Position Kinematics of Serial Chains 429 9.3. 1 Introduction 429 9.3.2 Concatenation of Transformations 431 9.3.3 Homogeneous Transformations 435 9.4 Inverse Position Kinematics 438 9.5 Direct and Inverse Velocity Problems 438 9.5.1 Introduction 438 Direct Rate Kinematics 439 14 .ا.اHelical Gears with Parallel Shafts 503 11.1.5 Crossed Helical Gears 509 11.2 Worm Gears 513 11.2.1 Worm Gear Nomenclature 514 11.3 Involut-C Bevel Gears 517 11.3.1 TredgoldS Approximation for Bevel Gears 519 11.3.2 Additional Nomenclature for Bevel Gears 520 11.3.3 Crown Bevel Gears and Face Gears 521 11.3.4 Miter Gears 523 11.3.5 Angular Bevel Gears 524 11.3.6 Zerol Bevel Gears 524 9.5 2 9.5.3 Inverse Velocity Problem 444 Closed-Toop Linkages 445 Lower Pair Joints 448 9.6 9.7 Motion Platforms 452 Mechanisms Actuated in Parallel 452 The Stewart Platform 452 The 3-2-1 Platform 454 9. 9.8.1 9.8.2 9.8.3 References 454 Problems 454 11.3.7 Spiral Bevel Gears 525 11.3 Hypoid Gears 526 References 528 Problems 528 CHAPTER 12 GEAR TRAINS 530 CHAPTER 10 SPUR GEARS 458 12.1 Gear Trains 530 12.2 Direction of Rotation 530 12.3 Simple Gear Trains 531 12.3.1 Simple Reversing Mechanism 533 12.4 Compound Gear Trains 534 12.4.1 Concentric Gear Trains 537 12.5 Planetary Gear Trains 540 12.5. 1 Planetary Gear Nomenclature 542 12.5.2 -Analysis of Planetary Gear Trains Using Equations 544 12.5.3 Analysis of Planetary Gear Trains Using the Tabular Method 550 1 (1.1 Introduction 458 10.2 Spur Gears 459 10.3 Condition for Constant-Velocity Ratio 460 10.4 Involutes 461 10.5 Gear Terminology and Standards 464 10.5.1 Terminology 464 10.5.2 Standards 465 10.6 Contact Ratio 467 10.7 Involutometry 471 10.8 Internal Gears 474 10.9 Gear Manufacturing 475 10.10 Interference and Undercutting 479 10.11 Nonstandard Gearing 482 10.12 Cartesian Coordinates O'l'an Involute Tootli Generated with a Rack 487 10.12.1 Coordinate Systems 487 10.12.2 Gear Equations 491 References 494 Problems 494 References 554 Problems 554 CHAPTER 13 STATIC FORCE ANALYSIS OF MECHANISMS ?لا?لا?لا 13.1 Introduction 559 13.2 Forces, Moments, and Couples 560 13.3 Static Equilibrium 562 13.4 Free-Body Diagrams 562 13.5 Graphical Force Analysis 565 13.6 Analytical Approach to Force Analysis 573 13.6.1 Transmission Angle in a Four- 'Bar Linkage 575 13.7 Friction Considei0ations 578 13.7. 1 Friction in Cam Contact 579 13.7.2 Friction in Slider Joints 579 13.7.3 Friction in Revolutc Joints 581 CHAPTER 1010 HELICAL , REVEL, AND WORM GEARS ARC I 1 I Helical Gears 496 11.1.1 Helical Gear Terminology 497 11.1.2 Hclica!. Gear Manufacturing 501 11.1.3 Minimum Tooth Number to Avoid Undercutting 501CONTENTS X I In-Plane and Out-of-Plane Force Systems 586 13.9 Conservation of Energy and Power 590 13.1() Virtual Work 595 13.11 Gear Loads 597 13.11.1 Spur Gears 597 13.11.2 Helical Gears 599 13.11.3 Worm Gears 601 13.11.4 Straight Bevel Gears 603 Problems 604 13. CHAPTER SHAKING FORCES AND BALANCING 620 15.1 Introduction 629 15.2 Single-Plane (Static) Balancing 630 15.3 Multiplane (Dynamic) Balancing 633 15.4 Balancing Reciprocating Masses 639 15.4.1 Expression for Lumped Mass Distribution 640 15.4.2 Analytical Approach to Balancing a Slider-Crank Mechanism 643 15.5 Expressions for Inertial Forces 646 15.6 Balancing Multicylindcr Machines 649 15.6.1 Balancing a Three-Cylinder In-Line Engine 653 15.6.2 Balancing an Eight-Cylinder V Engine 655 References 657 Problems 657 CHAPTER DYNAMIC FORCE ANALYSIS 60* 14.1 Introduction 608 14.2 Problems Soluble via Particle Kinetics 610 14.2. 1 Dynamic Equilibrium of Systems of Particles 610 14.2.2 Conservation of Energy 615 14.2.3 Conservation of Momentum 615 14.3 Dynamic Equilibrium ofSystems of Rigid Bodies 618 14.4 Flywheels 624 Problems 646 INDEX 662
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