Kinematics And Dynamics Of Machinery

Pearson New International Edition Kinematics and Dynamics of Machinery Charles E. Wilson J. Peter Sadler Third Edition Pearson Education Limited Edinburgh Gate Harlow Essex CM20 2JE England and Associated Companies throughout the world Visit us on the World Wide Web at: www.pearsoned.co.uk © Pearson Education Limited 2014 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, without either the prior written permission of the publisher or a licence permitting restricted copying in the United Kingdom issued by the Copyright Licensing Agency Ltd, Saffron House, 6–10 Kirby Street, London EC1N 8TS. All trademarks used herein are the property of their respective owners. The use of any trademark in this text does not vest in the author or publisher any trademark ownership rights in such trademarks, nor does the use of such trademarks imply any affiliation with or endorsement of this book by such owners. ISBN 10: 1-292-04005-X ISBN 10: 1-269-37450-8 ISBN 13: 978-1-292-04005-9 ISBN 13: 978-1-269-37450-7 British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library Printed in the United States of America Table of Contents Symbols Charles E. Wilson, J. Peter Sadler 1 Chapter 1. Mechanisms and Machines: Basic Concepts.  Charles E. Wilson, J. Peter Sadler 5  Chapter 2. Motion in Machinery.  Charles E. Wilson, J. Peter Sadler 103  Chapter 3. Velocity Analysis of Planar and Spatial Mechanisms.  Charles E. Wilson, J. Peter Sadler 165  Chapter 4. Acceleration Analysis of Planar and Spatial Mechanisms.  Charles E. Wilson, J. Peter Sadler 264  Chapter 5. Design and Analysis of Cam and Follower Systems.  Charles E. Wilson, J. Peter Sadler 339  Chapter 6. Spur Gears: Design and Analysis.  Charles E. Wilson, J. Peter Sadler 405  Chapter 7. Helical, Worm, and Bevel Gears: Design and Analysis.  Charles E. Wilson, J. Peter Sadler 471  Chapter 8. Drive Trains: Design and Analysis.  Charles E. Wilson, J. Peter Sadler 515  Chapter 9. Static-Force Analysis.  Charles E. Wilson, J. Peter Sadler 613 Chapter 10. Dynamic-Force Analysis.  Charles E. Wilson, J. Peter Sadler 689 Chapter 11. Synthesis.  Charles E. Wilson, J. Peter Sadler 779 Partial Answers to Selected Problems Charles E. Wilson, J. Peter Sadler 821 Index 837 I Symbols Vectors and matrices are shown in boldface, scalar magnitudes in lightface. A-1 A#B A * B a a, a ac, ac a n, a n a t, a t bc C C Ci c CAD D d db DF e eju F Fa Fe Fi Fij Fn Fr Fs Ft f fi G H h Inverse of matrix A Dot (scalar) product of vectors A and B Cross (vector) product of vectors A and B Gear tooth addendum Acceleration Coriolis acceleration Normal acceleration Tangential acceleration Velocity of C relative to B (velocity difference) Cylinder pair; planet carrier Force couple Inertia couple or inertia torque Center distance Computer-aided design Determinant Diameter of pitch circle Diameter of base circle Degrees of freedom Instantaneous efficiency; cam-follower offset; piston offset; eccentricity Polar form of a complexnumber Force Axial or thrust gear tooth force component External force Inertia force Force exerted by a member i on member j Normal gear tooth force Radial gear tooth force component Shakin