SECOND EDITION

KINEMATICS, DYNAMICS, AND

DESIGN OF MACHINERY

K. J. WALDRON
Stanford University

G. L. KINZEL
The Ohio State University

WILEY
JOHN WILEY & SONS, INC.
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CONTENTS

CHAPTER 1 INTRODUCTION 1 CHAPTER 3 LINKAGES WITH ROLLING AND SLIDING

CONTACTS AND JOINTS ON MOVING SLIDERS 96
1.1 Historic Perspective 1
1.2 Kinematics 2 3.1 Introduction 96
1.3 Design: Analysis and Synthesis 2 3.2 Reference Frames 96
1.4 Mechanisms 3 3.3 General Velocity and Acceleration Equations 98
1.5 Planar Linkages 7 3.3.1 Velocity Equations 98
1.6 Visualization 9 3.3.2 Acceleration Equations 101
1.7 Constraint Analysis 11 3.3.3 Chain Rule for Positions, Velocities, and
1.8 Constraint Analysis of Spatial Linkages 18 Accelerations 101
1.9 Idle Degrees of Freedom 23 3.4 Special Cases for the Velocity and Acceleration
1.10 Overconstrairied Linkages 25 Equations 104
1.11 Uses of the Mobility Criterion 29 3.4.1 Points P and Q Fixed to B 104
1.12 Inversion 30 3.4.2 P and Q Are Coincident 105 '
1.13 Reference Frames 31 3.4.3 P and Q Are Coincident and in Rolling
1.14 Motion Limits 31 Contact 105
1. 15 Actuation 32 3.5 Linkages with Rotating Sliding Joints 106
1.16 Coupler-Driven Linkages 37 3.6 Rolling Contact 111
1. 17 Motion Limits for Slider-Crank Mechanism 38 3.6.1 Basic Kinematic Relationships for Rolling
1.18 Interference 40 Contact 112
1.19 Practical Design Considerations 44 3.6.2 Modeling Rolling Contact Using a Virtual
1.19.1 Revolute Joints 44 Linkage 118
1.19.2 Prismatic Joints 46 3.7 Cam Contact 121
1.19.3 Higher Pairs 47 3.7.1 Direct Approach to the Analysis of Cam
1.19.4 Cams vs. Linkages 47 Contact 121
1.19.5 Actuation 48 3.7.2 Analysis of Cam Contact Using Equivalent
Problems 54 Linkages 124
3.8 General Coincident Points 128
3.8.1 Velocity Analyses Involving General Coincident
Points 130
CHAPTER 2 GRAPHICAL POSITION, VELOCITY, AND 3.8.2 Acceleration Analyses Involving General
ACCELERATION ANALYSIS FOR MECHANISMS WITH Coincident Points 130
REVOLUTE JOINTS OR FIXED SLIDES 60 Problems 136
2.1 Introduction 60
2.2 Graphical Position Analysis 61
2.3 Planar Velocity Polygons 62
CHAPTER 4 INSTANT CENTERS OF VELOCITY 145
2.4 Graphical Acceleration Analysis 65
2.5 Graphical Analysis of a Four-Bar Mechanism 67 4.1 Introduction 145
2.6 Graphical Analysis of a Slider-Crank 4.2 Definition 145
Mechanism 74 4.3 Existence Proof 146
2.7 The Velocity Image Theorem 76 4.4 Location of an Instant Center from the Directions of
2.8 The Acceleration Image Theorem 79 Two Velocities 147
2.9 Solution by Inversion 84 4.5 Instant Center at a Revolute Joint 148
Problems 89 4.6 Instant Center of a Curved Slider 148

vii
VDII CONTENTS

4.7 Instant Center of a Prismatic Joint 148 5.6 Analytical Equations for the Slider-Crank
4.8 Instant Center of a Rolling Contact Pair 149 Inversion 200
4.9 Instant Center of a General Cam-Pair 5.6.1 Solution to Position Equations When 02 Is
Contact 149 Input 202
4.10 Centrodes 160 5.6.2 Solution to Position Equations When 03 Is
4. II The Kennedy-Aronholdt Theorem 153 Input 204
4.12 Circle Diagram as a Strategy for Finding Instant 5.6.3 Solution to Position Equations When r3 Is
Centers 155 Input 204
4.13 Using Instant Centers: The Rotating-Radius 5.6.4 Velocity Equations for the Slider-Crank
Method 156 Inversion 205
4.14 Finding Instant Centers Using Drafting 5.6.5 Acceleration Equations for the Slider-Crank
Programs 164 Inversion 207
Problems 165 5.7 Analytical Equations for an RPRP
Mechanism 211
5.7.1 Solution of Closure Equations When 02 Is
Known 212
CHAPTERS ANALYTICAL LINKAGE ANALYSIS 171 5.7.2 Solution of Closure Equations When/-4 Is
5.1 Introduction 171 Known 213
5.2 Position, Velocity, and Acceleration 5.7.3 Solution of Closure Equations When r3 Is
Representations 172 Known 215
5.2.1 Position Representation 172 5.7.4 Velocity and Acceleration Equations for an
5.2.2 Velocity Representation 172 RPRP Mechanism 216
5.2.3 Acceleration Representation 174 5.8 Analytical Equations for an RRPP
5.2.4 Special Cases 176 Mechanism 218
5.2.5 Mechanisms to Be Considered 175 5.8.1 Solution When 62 Is Known 219
5.3 Analytical Closure Equations for Four-Bar 5.8.2 Solution When r, Is Known 220
Linkages 175 5.8.3 Solution When r3 Is Known 221
5.3.1 Solution of Closure Equations for 5.9 Analytical Equations for Elliptic Trammel 223
Four-Bar Linkages When Link 2 Is the 5.9.1 Analysis When 03 Is Known 224
Driver 176 5.9.2 Analysis When r. Is Known 225
5.3.2 Analysis When the Coupler (Link 3) Is the 5.10 Analytical Equations for the Oldham
Driving Link 179 Mechanism 228
5.3.3 Velocity Equations for Four-Bar 5.10.1 Analysis When 62 Is Known 229
Linkages 179 5.10.2 Analysis When r2 Is Known 230
5.3.4 Acceleration Equations for Four-Bar 5.11 Closure or Loop-Equation Approach for Compound
Linkages 181 Mechanisms 233
5.4 Analytical Equations for a Rigid Body after 5.11.1 Handling Points Not on the Vector
the Kinematic Properties of Two Points Are Loops 236
Known 184 5.11.2 Solving the Position Equations 237
5.5 Analytical Equations for Slider-Crank 5.12 Closure Equations for Mechanisms with Higher
Mechanisms 187 Pairs 243
5.5.1 Solution to Position Equations When d2 Is 5.13 Notational Differences: Vectors and Complex
Input 190 Numbers 248
5.5.2 Solution to Position Equations When r. Is Problems 251
Input 192
5.5.3 Solution to Position Equations When 03 Is
Input 193
CHAPTER 6 PLANAR LINKAGE DESIGN 257
5.5.4 Velocity Equations for Slider-Crank
Mechanism 194 6.1 Introduction 257
5.5.5 Acceleration Equations for Slider-Crank 6.2 Two-Position Double-Rocker Design 260
Mechanism 195 6.2.1 Graphical Solution Procedure 260
6.2.2 Analytical Solution Procedure 261
 CONTENTS IX

6.3 Motion Generation 263 7.1.3 Exact Straight-Line Mechanisms 332

6.3.1 Introduction 263 7.1.4 Pantographs 333
6.3.2 Two Positions 263 7.2 Spherical Linkages 340
6.3.3 Three Positions with Selected Moving 7.2.1 Introduction 340
Pivots 266 7.2.2 Gimbals 343
6.3.4 Synthesis of a Crank with Chosen Fixed 7.2.3 Universal Joints 343
Pivots 266 7.3 Constant-Velocity Couplings 347
6.3.5 Design of Slider-Cranks and Elliptic 7.3.1 Geometric Requirements of Constant-
Trammels 268 Velocity Couplings 347
6.3.6 Order Problem and Change of 7.3.2 Practical Constant-Velocity
Branch 270 Couplings 347
6.3.7 Analytical Approach to Rigid-Body 7.4 Automotive Steering and Suspension
Guidance 276 Mechanisms 349
6.4 Function Generation 283 7.4.1 Introduction 349
6.4.1 Function Generation Using a Four-Bar 7.4.2 Steering Mechanisms 349
Linkage 285 7.4.3 Suspension Mechanisms 353
6.4.2 Design Procedure When y = y(x) Is to Be 7.5 Indexing Mechanisms 354
Generated 287 7.5.1 Geneva Mechanisms 354
6.4.3 Selection of Design Positions 288 References 359
6.4.4 Summary of Solution Procedure for Problems 360
Four-Bar Linkage and Three Precision
Points 289
6.4.5 Graphical Approach to Function
Generation 293 CHAPTERS PROFILE CAM DESIGN 362
6.5 Synthesis of Crank-Rocker Linkages for Specified 8.1 Introduction 362
Rocker Amplitude 294 8.2 Cam-Follower Systems 363 ;-
6.5.1 Extreme Rocker Positions and Simple 8.3 Synthesis of Motion Programs 364
Analytical Solution 294 8.4 Analysis of Different Types of Follower
6.5.2 The Rocker Amplitude Problem: Displacement Functions 366
Graphical Approach 295 8.5 Uniform Motion 367
6.5.3 Transmission Angle 300 8.6 Parabolic Motion 368
6.5.4 Alternative Graphical Design Procedure Based 8.7 Harmonic Follower-Displacement
on Specification of O2-O4 301 Programs 373
6.5.5 Analytical Design Procedure Based on 8.8 Cycloidal Follower-Displacement
Specification of O2-O4 304 Programs^ 375
6.5.6 Use of Analytical Design Procedure for 8.9 General Polynomial Follower-Displacement
Optimization 307 Programs 376
6.6 Path Synthesis 308 8.10 Determining the Cam Profile 381
6.6.1 Design of Six-Bar Linkages Using 8.10.1 Graphical Cam Profile Layout 381
Coupler Curves 309 8.10.2 Analytical Determination of Cam
6.6.2 Motion Generation for Parallel Motion Using Profile 391
Coupler Curves 315 References 417
6.6.3 Four-Bar Cognate Linkages 318 Problems 417
References 320
Problems 321

CHAPTER 9 SPATIAL LINKAGE ANALYSIS 421

CHAPTER 7 SPECIAL MECHANISMS 329 9.1 Spatial Mechanisms 421

9.1.1 Introduction 421
7.1 Special Planar Mechanisms 329 9.1.2 Velocity and Acceleration
7.1.1 Introduction 329 Relationships 422
7.1.2 Approximate Straight-Line Mechanisms 329 9.2 Robotic Mechanisms 428
 CONTENTS

9.3 Direct Position Kinematics of Serial 11.1.4 Helical Gears with Parallel Shafts 503
Chains 429 11.1.5 Crossed Helical Gears 609
9.3.1 Introduction 429 11.2 Worm Gears 513
9.3.2 Concatenation of Transformations 431 11.2.1 Worm Gear Nomenclature 514
9.3.3 Homogeneous Transformations 435 11.3 Involute Bevel Gears 517
9.4 Inverse Position Kinematics 438 11.3.1 Tredgold's Approximation for Bevel
9.5 Direct and Inverse Velocity Problems 438 Gears 519
9.5.1 Introduction 438 11.3.2 Additional Nomenclature for Bevel
9.5.2 Direct Rate Kinematics 439 Gears 520
9.5.3 Inverse Velocity Problem 444 11.3.3 Crown Bevel Gears and Face Gears 521
9.6 Closed-Loop Linkages 445 H.3.4 Miter Gears 523
9.7 Lower Pair Joints 448 11.3.5 Angular Bevel Gears 524
9.8 Motion Platforms 452 11.3.6 Zerol Bevel Gears 524
9.8.1 Mechanisms Actuated in Parallel 452 11.3.7 Spiral Bevel Gears 525
9.8.2 The Stewart Platform 452 11.3.8 Hypoid Gears 526
9.8.3 The 3-2-1 Platform 454 References 528
References 454 Problems 528
Problems 454

CHAPTER 12 GEAR TRAINS 530

CHAPTER 10 SPUR GEARS 458
12.1 Gear Trains 530
10.1 Introduction 458 12.2 Direction of Rotation 530
10.2 Spur Gears 459 12.3 Simple Gear Trains 531
10.3 Condition for Constant-Velocity Ratio 460 12.3.1 Simple Reversing Mechanism 533
10.4 Involutes 461 12.4 Compound Gear Trains 534^,
10.5 Gear Terminology and Standards 464 12.4.1 Concentric Gear Trains 537
10.5.1 Terminology 464 12.5 Planetary Gear Trains 540
10.5.2 Standards 465 12.5.1 Planetary Gear Nomenclature 542
10.6 Contact Ratio 467 12.5.2 Analysis of Planetary Gear Trains Using
10.7 Involutometry 471 Equations • 544
10.8 Internal Gears 474 12.5.3 Analysis of Planetary Gear Trains Using the
10.9 Gear Manufacturing 475 Tabular Method 550
10.10 Interference and Undercutting 479 References 554
10.11 Nonstandard Gearing 482 Problems 554
10.12 Cartesian Coordinates of an Involute Tooth Generated
with a Rack 487
10.12.1 Coordinate Systems 487
10.12.2 Gear Equations 491 CHAPTER 13 STATIC FORCE ANALYSIS OF
References 494 MECHANISMS 559
Problems 494 13.1 Introduction 559
13.2 Forces, Moments, and Couples 560
13.3 Static Equilibrium 562
13.4 Free-Body Diagrams 562
CHAPTER 11 HELICAL, BEVEL, AND WORM
13.5 Graphical Force Analysis 665
GEARS 496
13.6 Analytical Approach to Force Analysis 573
11.1 Helical Gears 496 13.6.1 Transmission Angle in a Four-Bar
11.1.1 HelicalGear Terminology 49 7 Linkage 575
11.1.2 Helical Gear Manufacturing 501 13.7 Friction Considerations 578
11.1.3 Minimum Tooth Number to Avoid 13.7.1 Friction in Cam Contact 579
Undercutting 501 13.7.2 Friction in Slider Joints 579
13.7.3 Friction in Revolute Joints 581
 CONTENTS XI

13.8 In-Plane and Out-of-Plane Force Systems 586 CHAPTER 15 SHAKING FORCES AND BALANCING 629
13.9 Conservation of Energy and Power 690
15.1 Introduction 629
13.10 Virtual Work 595 15.2 Single-Plane (Static) Balancing 630
13:11 Gear Loads 597 15.3 Multiplane (Dynamic) Balancing 633
13.11.1 Spur Gears 697 15.4 Balancing Reciprocating Masses 639
13.11.2 Helical Gears 599 15.4.1 Expression for Lumped Mass Distribution 640
13.11.3 Worm Gears 601 15.4.2 Analytical Approach to Balancing
13.11.4 Straight Bevel Gears 603 a Slider-Crank Mechanism 643
Problems 604 15.5 Expressions for Inertial Forces 646
15.6 Balancing Multicylinder Machines 649
15.6.1 Balancing a Three-Cylinder In-Line
CHAPTER 14 DYNAMIC FORCE ANALYSIS 608 Engine 653
15.6.2 Balancing an Eight-Cylinder V Engine 655
14.1 Introduction 608 References 657
14.2 Problems Soluble via Particle Kinetics 610 Problems 657
14.2.1 Dynamic Equilibrium of Systems of
Particles 610
14.2.2 Conservation of Energy 615
14.2.3 Conservation of Momentum 615 INDEX 662
14.3 Dynamic Equilibrium of Systems of Rigid Bodies 618
14.4 Flywheels 624
Problems 646