CONTENTS Post Kinoo nnn wu IENEMATICS AND DYHAMICS OF MACHINERY the Gratol Condition unteges ot hare Than Four Soe Grosnotype Retail Cioia fo Higher Grd nkoges re ee tro ecroechonieal Siem Gli Tasted Conicerons tow ana bres {Ara jcouie Grinder. Chapter 3. Graphical Linkage Synthess aun Syne. oy Liming Condions Dimensones Synesis Two Pen St Ives Postion hese wit Avamese Moun Po! Ives Ponfon Syrmase win Section eed Pv Fasan yada Mor Than veo Posto ‘Quictetun achonsms Cognate Gaares rvenar Copnate fine Roba shghtune Machonens ‘Desaning Optimum Sragiine Four iniages. owelMechoniems Srojebwaturhogee Davo Guot Umages other Usetul unwages Cons Valo ton cn ape Angus ry Raton References. ya Seas ia 45 2 2 98 162 Chapter 4 Position Analysis. 12. Creuts and Branches in nko Chapter § Analytical Linkage Synthesis 52. Two-Poston Synthess for Rocker Oulput 83. reckson Pom. 58 _ Smutoneout Equation solvon, 57 Tivea-Poston Motion Generation by Ancivical Synthase 58. Comparson ot Anaiyiee and Graphical Thvae-Peston Synthase 59. Synmasitor a spaciiag Fired Pwot Location” Ve 196iE 515 Chapter chapter a 10 chapter at Provioms 6 Velocity Analysis: Velocity of ery Panton @ Usage ene 7. Acceleration Analysis ‘Accoltaion Anais af ne Geoied Fi 5 ag 8 Com Design BEER Ey 295 308 330 330 0 ‘chapter 9 Gear Trains The Ponce aw of Gearing sample Cour rains ae 454Fe - TONEMATES AND DYNAMICS OF MACHINERY _ CONTENTS comes - x Deson ot Revered Compote Fae 2 119 Unkage Force ancy by Energy Methods 28 Sete Sane concn Sate @ 110 Cosroing input raueryeneel o 99 epeyotec Pnay Coors = i Rittage ars eran ao oe S12 Reteronces ae Chaplet 12. Balancing sin eager 5 29° reduction Port ll Dynamics of Machinery. sir op cine nae Cchapter 10 Dynemlcs Fundamentals 513 24 oct Balancing ov olny ava Pn Facet a 28 Etec of Blancng on nt rue 121 Mewar Low of ion 513 et Eee goose ot Newer ow a 125 Macaig ond Coneing mostonce 3 Moss t 34 129 Booioms 28 Mam omen nd Covet of Sa 3 Ms ea er ne ee beet es hope 18 Engine Dynamic 13 Botemining Nose Moment of nets 130 ftoducton Seoieeitens 82 Sees 109 Modeling Rotating Links 13.4 EqUvaleRt MO8#@8 eo "Bie Baer’ reuse 135 nme Sod Grainy O11 mpodPorometer Dyas Hodes 136 Inria end anal egued tere co 132 Ttengre torn ‘Gomeinng bones # 180. Bolncing ine Snglec nde Ene embry sro =o oct er crannon salanang nF Foes ro camer es a 1311 besgh tade-fs ond Reo 1019. seldhon Mao 37 Ciredc co we 10.14. The Pinciple of d Alembar 538 Moroioe a IB18. Energy Metnoarvitoa Wo 5 1312 pologrepny “) toe sa 218 Pebime oo 10.17 Probes. = 13.14 Projects 664 ‘Chapter 11 Dynamic Force Analysis oe: Chapter 14 Multicylinder Engines 665 0 Introduction 4 140 Introduction 665, 4 Revi id us 141 Mumeyinger Eine Boss a 113 Force Anoiys# of ATrreebar Crank Side lrkoge. 5n 143_Shokng Porcen mre Engine. an 11d Fores ancy of ¢Fouroo unkage 3 3 ss 7 a i 5 gee 5 142 nero lorausininine Engine os 13. Fe Angas of Fours oa iogs 2 145 Shang cmentin ne erates os 117 Fores Anaiyss—Lnkoges with More Thon Fou Bars $67 ee teow icine rosie 118 Shoking foes ona Snake Moment eee o Feurstone Cyc engre raFE 147 Vee Engine Contiaurations '48 Spporsd Enpme Contgurcion 1410 References VAN Bblograph Chapter 15 Cam Dynamics 3 Knctesone Force Anciyse of he Forse closed Carvallower... 723 180 Probie. 3 ‘Appendix A Mateil Properties m1 ‘Appendix 8 Geometic ropertos 145 Appendix C sping Dato. mar ‘Appendix D Equations for Overbolanced Mutleyiner Engines... 749 ‘Appendix Answer to Selected Problems 183 Index 109 PREFACE When I hear, forget When see, remember When Ido, understand ANCIENT CHINESE PROVERB This text is intended forthe kinematics and dynamics of machinery topics. The usual peeequisits are fist courses in statics, dynamic, nd ealuls. Usually the fis sees {ror portion, is devoted to kinematics, and the secondo dynamics of machinery. TRese ‘Courses ae ideal vehicles for itodacing the mechanial engineering student tothe ‘es of design, ince mechaniams tend 1 bettie fr the typical mechanical engineer ing student o visualize and cea Wile his text attempts tobe thorough and complete on he topics of analysis, it aso Emphasizes the synthesis and design arpecis ofthe subject to = greater most texts in pion thse subjects. While the mathematical level ofthis ext is aimed taecond-of third-year university students, itis prevented de novo and shouldbe tderstandable othe technical school students well, ar ofthis text is suitable for one-semester or one-term course in kinematics. artis suitable fora one semere or one-term course in dynamics of machinery. Alte tively, both topic areas can be covered in one semester with ss emphasis on some of {he topics covered in he ox "The writing and style of presentation inthe text is designed ta be cles, nfrmal, and caso read. Many expe problems and sltion techniques represented and spl fut in dtl both verbally and graphically. Many suggested readings ae provided inthe tibtogrpty. Short problems, and where appropri, many longer unsirutured design projet assignments are provided a th ends of chapters. These projet provie an oP- unity forthe stodens do aed understan ‘The authors approach to these courses and this tex is based on over 45 yeas experince in mechinical engineering design, both in industry and asa consultant He has taught these subjects since 1967, bot i evening School to practicing eng neers and in day schoo o younger students. His approach othe course has evelved 1 peat ea ia tha tine, from a traditional approach, emphasizing graphical aalyis ofPART KINEMATICS OF MECHANISMSChapter INTRODUCTION spiration most often sr those who are hard at work ANONYMOUS 1.0 PURPOSE In this text we will explore the tpis of kinematics and dynamics of machinery in ‘analysis of mechanisms ino thei rigibody dynamic pics ae fundamental othe broader subject of machine design. On mise that we cannot analyze anything un thas been synthesized ino existence, tne will fist explore the topic of synthesis of mechanisms, ‘Then we will investi! Techniques of analysis of mechanisms allthis wll be directed 1.1 KINEMATICS AND KINETICS KaveMATics The study of motion without regard to ores KINErics The study of forces on system a “These two concepts are relly no physically separable, We itary separate the for incructional reasons in engineering edcation It x also valid in engineering design practice to first consider the desired kinematic motions and ther consequences, and then ubsequendy investigate the Kinetic forces associated with those motions The s Should elie thatthe division becween Kinematics and kinetics i gute abitary and done largely fr convenience. One cannot design most dynamic mechanical systems without taking both tpi int thorough consideration It is quite logical o consider (emi the ode ited since, rom Newton's second law F= ma, oe piel needsiow the accelerations (a in oder to compute the dynamic forces (F) de tothe mo fon ofthe system's mass (), Thera aso man station in which he apple ores ane known and the resulant accelerations ae to be ound (One principal sim of kinematics isto create (Ssig) the desired motions f thes ject mechanical parts and then mathemailly compute the postion, velocities, and ae leratons that hose tions wl reat on te pars, Since, for mot eantbound me ‘hinial systems, the mass remains essentially constant with ime, defining the acceler ttions ass funtion of time then also defies the dynamic forces a8 a fnction of time, Strestes, in tum, wl bea function ofboth spplied and inertial (a) forces. Since en ering design i charged with creating systems tht wil no fil rng their expected Service lif, the goal isto Keep sresses within accepabl lis for the matevals chosen andthe environmental conditions encountered. This obviously requires that al system forces be defined and Kept within desired limits. In machinery that moves he nl teresting kind). the largest frees encountered ar fen those duet the dynamics othe ache self: These dymamic fore: ae proportional o aceleration, which brings us tack to kinematics, the foundation of mechanical design. Very basic and early decisions inthe design proces involving Kinematic principles ean be eral tothe succes of any mechanical design. A design tat has por kinematics wil prove toublesome and per form bay 1.2. MECHANISMS AND MACHINES A mechanism device tat ransfors mation o some desirable pater and rypicaly develope very low frces an tans litle power. Hunt" defines a mechanism as" telly contains mechanisms tat are designed to provide significa forces and transmit Significant power! Some examples of commen mechs area penll harpener, Camera shutter an analog clock, aoldng cai, an adjustable des lamp, and an ube! la. Some examples of machines that possess motions sila to th mechanisms listed shove at food blender, «bank vault doo, an suomobile transmission, a blldorer robot and an amusement park ride, Thee no clearcut dividing line between mecha sms and machines. They differ in degre rater than in kind. If the forces or enecey levels within the device are significant, ts considered machine; Ino, is considered AAmechanism. Aseful working definition of mechanism sA stem of elements a ranged fo trananit motion ina predetermined fashion. This ca be converted oa def inion of machine by edding the words and energy aftr motion. Mechanisms, if lightly loaded and run at slow speds, can sometimes be treated suicly as Kinematic devices; that, they can be analyzed Kinematialywithot regard toforees, Machines and mechanisms running athighrspeds) onthe other hand, must fist rested as mechanisms kinematic analysis of thei velocities and aeceleratons rust dene, and then they must be subsequent analyad as dynamic systems in Which theirstatc and dynamic forces de to those seeleration reanalyzed sng the prin ples of kinetics, Part Hof this text deals with Kinematies of Mechanisms, nd Part ‘sith Dynamics of Machinery. The techniques of mechanism synthesis presented in Part Tare plicable wo the design ofboth mechanisms and machines since ineach case some collection of movable members mist be ces to provide and corral the dsied so tons and gener. 1.3. ABRIEF HISTORY OF KINEMATICS Machines and mechanisms have been devised by people since the dawn of history, The scent Egyptians devised peimiive machines fo accomplish the building ofthe pa ‘ms and otter monuments. Thowgh the wheel and plley (on an ale were not known, tothe OM Kingdom Egyptian, they made use of te lver, the inclined plane (or weds) ‘nd probably the log ole. The origin of te wheel and axe is aot definitively known Is first appearance seems to have been in Mesopotamia about 3000 to 4000 B Agreatdeal of design effort was spent fom carly times onthe problem of timekeep ing as more sophisticated clockworks were devised. Much early machine design wa dUrected toward military applications (catapults, wall scaling apparatus, et). The term tiv enginering wa Inter coined diferent iii rom military applications of technology. Mechanical engineering had its beginnings in machine design a th in ‘enon ofthe indus revolution requied more complicated and sophisticated soi tions to motion control problems. James Watt (1736-1819) probably deserves the tile of fist Kiematctan for his synthesis ofa straight-line linkage (see Figure 3-29 on . 137) 0 guide the very lng suoke pistons in the then new steam engines. Since the Planer ws yet be invented in 1817} no means then existed machine «long, saiht ude serve asa crosshead in he scam engine. Walt Was certainly the first on record to recognize the vale of he motions of the coupler ink nthe fourbr linkage. Olver Evans (1755-1819), anesly American inventor also designed ssight-line linkage for ‘seam engine, Evie (1707-1783) was «contemporary of Wat, though they apparent Iy never mex. Euler presented an analytical weatnent of mechanisms in his Mechanica Sive Motus Siena Analtice Esposite (1736-1742), which neladed the concep that pl na mati is composed of to independent componeat. amel) traslton of pi ‘nd rotation ofthe bay about that pont. Euler aso suggested he separation othe prob lem of d)namic analysis into the "eomewical” and the "mechanical onde to simp fy the determination ofthe system's dynamics, Two of his contemporaries, d'Alembert tad Kant also propored sinilr ideas. This isthe eign of ou division of the opine Eemitics and kines as desribed on 3 Inthe early 1800s, L'Ecole Polytechnic in Pts, France, waste repository of eng neering experts, Lagrange and Fourier were among its faculty. One of it founders ‘vas Gaspard Monge (1746-1818), inventor of descriptive geometry (which ncdental Iy was Rep as miliacy secret bythe French government for 30 years because of is ‘ae in planning frifications)._Monge created coute in elements of machine and {et about the ask of classifying al meckansms and machines nown to mankind? His Collesgue, Hachette, completed the work in 1806 and published tas what was probably the first mechanism text in 1811. Andre Marie Ampere (1775-1836), azo «profesor ‘ut LEsole Polytecnc, et abot the formidable ask of claselfying “all human know! tiie” In is Esl sur la Philosophie des Sciences, he was the ist ous he term ce fmatique, from the Greek word for motion” to describe the stay of motion without ‘egardto forces, and suggested that "his sience ought wo incl all hat can be said with respect to motion ins diferent kinds, independenly ofthe forces by which tis pro ced." His tenn was later anglicied to inematcs and germanized 1 kinemat, Robert Wil (1800-1875) wrote he ex Principles of Mechanvn in 1841 while professor of natural philosophy atthe University of Cambridge, England, He attempted to systematize the tsk of mechanism symhess, He counted five ways of obtainingrelative motion betwoen inp nd utp links roling contact. sing con, inka ‘wrapping connetors (belts, chains), and tackle (ope or cain hosts). Franz Reuleaux (1829-1905), published Theoretische Kinemarikin F875. Many of hisieas are stil cu rent and useful. Alexander Kennedy (1847-1928) translated Reuleaux into English in 1876. This text became the foundation of modem kinematics andi stil in eit! (See iography at end ofchaper) He provided us withthe concept of a kieratic pair (Goin), whose shape and interaction define the typeof motion transmitted between ele ments in the mechanism, Reuleaux defined six bsic mechanical components: the lik te wheel, the eam, the screw, he ratchet, snd the belt He also defined "higher" and ower pais higher having line o point contac (asin arolle or ball bearing nd low cer having surface contact (sin init). Relea is generally considered the father ‘of modem kinematies and is responsible for the symbole notation of skeletal, gener linkages used in all modern Kinematics fet, Inthe 20 entry: prior to Work War I, most theoreicalw done in Europe, expecially in Germany, Few research resus were avalable in English In the United Sates, Kinematics was largely ignored unl the 1940s when A. E.R. dedonge wrote" Whats Wrong with Kinematics and Mechanisms," which ealled ‘ponte US. mechanical engineering edoaton establishment to pay utenti othe Eu ropean accomplishment inthis il. Since the, moch new work has been done, espe Cillin Kinematic synthesis, by American and Europea engineers and researcher such asJ.Denavit. A. Erdman, Freudenstcin, A, Hal, R.Hartenberg, R. Kaufman, B. Roth, G. Sandor, an A. Son allo the U.S.) and K. Hain (of Germany). Since he fal of he “iron curtain” much original work done by Soviet Rssan kinematics has become available inthe United States, sch stat by Artobolevsky ©) Many US. ‘lyse and synthesis, making practical se of many of the theories of their predeces ors) This ext wil make mich se ofthe availablity of computers to allow more ef: ficient analysis and synthesis of soltions to machine design problems 1.4 APPLICATIONS OF KINEMATICS (One ofthe first asks in solving any machine design problem sto determin the kine ‘matic cnfiguration(s) needed to provide the desired seions. Force apd stress analyses ‘ppiily cannot be done unt the Kinemsticesbes have been resolved. This text adress the design of kincmatic devices such asikages, cams, and gears. Each ofthese ers Wil be fully defined in succeeding chapters, but itmay be welt show some exam Piesof Kinematic applications inthis inroductory chapter. You probaly have ured many ‘ofthese systems without giving any thought to their kinetics. Yirally any machin or deve that moves contain one or more kinematic el rents such slink, came, gears belt, chins Your bcyoe is a simple example of a Kinematic system tht contains a chain dive to provide torgue mliplication and ip cable-pesaed linkage for braking. An astomobile entins many mare examples of Kinematic devices, Is steering system, wheel suspensions, an pston-engine all contin linkages; the engine’ valves are opened by cams andthe uansmisson fl of gears. Even he windshield wipers ar ikage-ven, Figure I-Ie shows spat inkage us to onto the rar wheel movement over humps ofa modem autmebile Ww loURE 1-1 Construction equipment sch as tratos, cranes, nd backhoes al ute linkages ox tensively in thei design Figure I-1b shows a smal backhoe thats linkage driven by hydaule cylinders. Another pplication using linkages is that of exerise equipment shown in FigreI-1c, The examples in Figure I-l ae all af consumer goods that you ray encounter in our daly travels, Many oter Kinematic examples occur the ela of frodeer goods—macioes aed Wo nos tre my Consumer pratt we we ‘You ae les likely w encounter these outside ofa futory environment. Once you be onme falar with he ems and principles of Kinematics, you wil a longer be able © Took at any machine or product without seeing its Kinematic aspects 1.8. THE DESIGN PROCESS Design, Invention, Creativity ‘These az ll familar ems but may mean diferent things to different people, These terms can encompass a wide rane of site from sling the newest ook in clothing, ‘o creating impressive architecture, to engineering a machine for the manufactre of ‘lal tissues. Engineering design, which we are concered with here, embodies al thee ‘of these activites aswell st many oters. The word design ie derived fromthe Latin dlesignare, which means “to designate, or mark ow.” Webster's gives several dein tions the most applicable being “to utine, plot, o plan as action or work... 19 con ‘ceive, invent ~ contrive.” Engineering design has been defined asthe process of ‘applying the various techniques and scientific principles forthe purpose of dein ‘device processor a system in sficiet detail to permits realization -. Design ay be simple or enormously comples easy or dificult, mathematical or nonmathe it may involve atrial problem or one of seat importance.” Design is unveral stituet of engineering practice, But te complexity of engineering subjects usuallyrr TUE requis ha the stunt be served with calleston of structured. set-piece problems These textbook problems typically take the form of "given A, B, C, and D, find E.” Un fortunately, el life enginesting problems ae sliost never o strtued. Real design ems moe often take the form of "What we need ia framus osu th neering graduate wil perch in vin arog his er textbooks for much guidance 1 Ive sucha problem, This uistructured problem stsiement usualy leads to wha cnaonly clled"blank paper syndrome Engincers often find themselves staring at a bank shes of paper pondering how o begin solving such an il-efined problem cer must kaow how to analyze systems of various fypes, mel thermal, or ui. Analysis requires a thorough understanding of both the appropra mathematical techniques snd te fundamental physics ofthe system’ function. But before any sytem canbe analyzed, mst exis, anda blank shot of paper provides li substance for analysis. Tus the Fist step in design excreie i that ‘of symthesis, which means puting foeti he design engineer, in practic, regress of discipline, continously faces the challenge of suturing the untructured problem, Inevitably, the peoblem a posed to the cnginerisilldefined snd incomplete, Before any atempt canbe made o anal the station be orshe mast fist carefully define the problem, using an engineering ap proech, tense that any proposed solution wil solve the ight problem. Many exam Des exe of excellent luton that were ultimately ejected because they Mach research has been devoted 1 the definition of Various “design processes" intended to provide means to structure the unstactored problem and lead toa viable Solution. Some of these proceses present dozens of step, oters oly afew. The one presented in Tele I-1 contains 10 steps and asi th author's experience, proven s ofl in Over 40 years of practice in engineering design. ofthese steps in detail itis necessary to point ot proces in which one proceeds from step ane through tn i. near fashion. Rather itis by its nature, an erative process n Which progres is made halt ingly, twosteps forward andone stepback. Ii inberenlyc oleate ments 70 pea to return oa previous sate for example, YOu pparetly grea idea, upon Says ums out o Silat the second law of themnodynarics, you can runt the ideation step and ge beter idea! Or, if necessary, you can rer oan eae tp in the understanding that th atl execution of he proces involves tation ity, we wll now discuss each step in the ore sted in Table L Identification of Need This fis stp is often done for you by someone, bos or lien, saying, “What we need i=" Typically this statement wl be rif and lacking in etal. tw al fr shor of viding you with tracted problem statement. Fr example, the prob might be "We needa beter awn mower Background Research outed cients mining concoction in test tes. Rather this researc of a mere ‘mundane sor. gathering backround infrmaton on the relevant physics, chemist other aspects ofthe problem, Also itis desirable ond out this osm problem, enough to finda ready-made solution onthe market, i will no doubt be more e:0n0 ‘ale purchase it than wo bud your own. Most key this wil not be the ese. but y tay learn a great deal cite with iia he problem tobe solved by iavestzating the existing “a nologies and press. Many companies purchase, disse bie and analyze tee competitors products «process sometimes fered tas "bench marking ‘The patent litcrature aod technical publications inthe subject area ae obvious information andar accesible Via the World Wide Web. The US. Patent a Extn patents inci ‘icaon section of patent is equted odeseribethe invention in sock detail that any re Soke inthe a ould make the invention. In eta for this fll disclosure he overament grants the inventor 4 20earmonapay on he claimed invention. After that teem enpites, anyone cause Clty you find thatthe soltion exists and is co hose ised in European countries, The die ‘sed ya patent sl n force, you have only 2 ew ethical choices: buy the patentee’ ex je Technical publications n engineering are numerovs and varied and are proved by numberof professional organizations. For the subject mater ofthis text, he rican Society of Mechanical Engineers ASME), which offers inexpensive student memberships, andthe International Federation for he Theory of Machines and M rams (IFToMM) both publish relevant journals, the ASME Journal of Mech fechanism and Machine Theory, respectively. Your schoo bry may sb jou can purchase copies of ticles ffom their web sites scribe oslo and wo sleviercomfacalpublisatons, respectively he World Wide Web provides an incredibly usefil resource fr the engineer os eat looking for information on any subject, The maay Search en liver a weal of infomation n response o selected Keywords, The web makes teary tofind sources for purchased hardware such as gers, bearings and motors, fr You m ‘hie designs, In ation, mich machine design infomation s available from the web. A numberof useful estes ae catalogued in the bibliography ofthis chapter tis very important that sufficient energy andtme be expended oni esearch nd preparation phase of the process in onder fo avoid the embarassment of concocting {reat saaton to the wrong problem, Most inexperienced (apd some experienced) en ers ve too litle tention this phase and jump too quik nto the ation andi ation stage ofthe process, This mat be avoided! You mst dsiline youself ono try to solve the problem before thoroughly preparing yourself odo so