com DESIGN OF MACHINERY AN INTRODUCTION TO THE SYNTHESIS AND ANALYSIS OF MECHANISMS AND MACHINES Second Edition www.com McGraw-Hili Series in Mechanical Engineering Jack P. Holman, Southern Methodist University John R. Lloyd, Michigan State University Consulting Editors Anderson: Modern Compressible Flow: With Historical Perspective Arora: Introduction to Optimum Design Anderson: Computational Fluid Dynamics: The Basics with Applications BormanlRagland: Combustion Engineering Burton: Introduction to Dynamic Systems Analysis Culp: Principles of Energy Conversion Dieter: Engineering Design: A Materials and Processing Approach Doebelin: Engineering Experimentation: Planning. Reporting Dreils: Linear Controls Systems Engineering Edwards and McKee: Fundamentals of Mechanical Component Design Gebhart: Heat Conduction and Mass Diffusion Gibson: Principles of Composite Material Mechanics Hamrock: Fundamentals of Fluid Film LubricaIion Heywood: Internal Combustion Engine Fundamenrals Hinze: Turbulence Holman: Experimental Methods for Engineers Howell and Buckius: Fundamenrals ofEngiN!ering Thermodynamics Jaluria: Design and Optimi::.ation ofTheTmill Systems Juvinall: Engineering Considerations of Stress, Strain.
and Strength Kays and Crawford: Com'ectiw Heal and Jlass Transfer Kelly: Fundamentals of Mechanical \'ibrarions Kimbrell: Kinematics Analysis and Synthesis Kreider and Rabl: Heating and Cooling of Buildings Martin: Kinematics and Dynamics ofJlachines Mattingly: Elements of Gas TurbiN! Propulsion Modest: Radiati\'e Heat Transfer Norton: Design of Machinery: .411 Introduction to the Synthesis and Analysis of Mechanisms and MachiN!s Oosthuizien and CarscaIIeo: Compressible Fluid Flow Phelan: Fundamentals of Mechanical Design Reddy: An Introduction to the Finite Elemen: Method Rosenberg and Kamopp: Introduction to Physical Systems Dynamics Schlichting: Boundary-Layer Theory Shames: Mechanics of Fluids Shigley: Kinematic Analysis of Mechanisms Shigley and Mischke: Mechanical Engineering Design Shigley and Vicker: Theory of Machines and Mechanisms Stimer: Design with Microprocessors for Mechanical Engineers Stoeker and Jones: Refrigeration and Air Conditioning Turns: An Introduction to Combustion: Concepts and Applications Ullman: The Mechanical Design Process Wark: Advanced Thermodynamics for Engineers White: Viscous Flow Zeid: CAD/CAM Theory and Practice www.com DESIGN OF MACHINERY: An Introduction to the Synthesis and Analysis of Mechanisms and Machines Copyright © 1999 by McGraw-Hill Inc. All rights reserved. Printed in the United States of America. Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a database or retrieval system, without the prior written permission of the publisher.
This book is printed on acid-free paper. I 2 3 4 5 6 7 8 9 0 QPF/QPF I 0 9 8 ISBN 0-07-048395-7 ISBN 0-07-913272-3 (set) ISBN 0-04-847978-9 (CD-ROM) Vice president and editorial director: Kevin T. Kane Publisher: 1bomas Casson Senior sponsoring editor: Debra Riegert Developmental editor: Holly Stark Marketing manager: John T. Wannemacher Project manager: Christina Thomton- Villagomez Production supervisor: Michael R.
McCormick Supplement Coordinator: Marc Mattson Cover Design: Gino Cieslik Book design: Wanda Siedlecka Printer: Quebecor Printing Book Group/Fairfield Cover photo: Viper cutaway courtesy of the Chrysler Corporation, Auburn Hills, MI. All text, drawings. and equations in this book were prepared and typeset electronically, by the author, on a Mocintosh® computer using Freehan~, MathType®, and Pagemaker® desktop publishing software. The body text was set in Times Roman, and headings set in Avant Garde.
Printer's film color separations were made on a laser typesetter directly from the author's disks. All clip art illustrations are courtesy of Dubl-Click Software Inc., Woodland Hills CA 91367. reprinted from their Industrial Revolution and Old Earth Almanac series with their permission (and with the author's thanks). Library of Congress Cataloging-in-Publication Data Norton, Robert L.
Design of machinery: an introduction to the synthesis and analysis of mechanisms and machines / Robert L. Norton - 2nd ed. --{McGraw-Hill series in mechanical engineering) Includes bibliographical references and index. Machinery, Dynamics of.8'15-dc20 http://www.com ABOUT THE AUTHOR Robert L.
Norton earned undergraduate degrees in both mechanical engineering and in- dustrial technology at Northeastern University and an MS in engineering design at Tufts University. He is a registered professional engineer in Massachusetts and New Hamp- shire. He has extensive industrial experience in engineering design and manufacturing and many years experience teaching mechanical engineering, engineering design, com- puter science, and related subjects at Northeastern University, Tufts University, and Worcester Polytechnic Institute. At Polaroid Corporation for ten years, he designed cam- eras, related mechanisms, and high-speed automated machinery.
He spent three years at Jet Spray Cooler Inc., designing food-handling machinery and prod- ucts. For five years he helped develop artificial-heart and noninvasive assisted-circula- tion (counterpulsation) devices at the Tufts New England Medical Center and Boston City Hospital. Since leaving industry to join academia, he has continued as an indepen- dent consultant on engineering projects ranging from disposable medical products to high-speed production machinery. Norton has been on the faculty of Worcester Polytechnic Institute since 1981 and is currently professor of mechanical engineering and head of the design group in that de- partment.
He teaches undergraduate and graduate courses in mechanical engineering with emphasis on design, kinematics, and dynamics of machinery. He is the author of numerous technical papers and journal articles covering kinematics, dynamics of machin- ery, carn design and manufacturing, computers in education, and engineering education and of the text Machine Design: An Integrated Approach. He is a Fellow of the Ameri- can Society of Mechanical Engineers and a member of the Society of Automotive Engi- neers. Rumors about the transplantation of a Pentium microprocessor into his brain are decidedly untrue (though he could use some additional RAM).
As for the unobtainium* ring, well, that's another story.com Thisbook isdedicated to the memory of my father, Harry J. who sparked a young boy's interest in engineering; to the memory of my mother, Kathryn W Norton who made it all possible; to my wife, Nancy Norton who provides unflagging patience and supp~rt; and to my children, Robert, Mary, and Thomas, who make it all worthwhile.com CONTENTS Preface to the Second Edition. XVII Preface to the First Edition. XIX PART I KINEMATICS OF MECHANISMS 1 Chapter 1 Introduction .1 Kinematics and Kinetics .2 Mechanisms and Machines .3 A Brief History of Kinematics .4 Applications of Kinematics .5 The Design Process.
7 Design, Invention, Creativity. 7 Identification of Need. 9 Ideation and Invention .········· 73 Prototyping and Testing .6 Other Approaches to Design .8 Human Factors Engineering .9 The Engineering Report .11 What's to Come. 20 Chapter 2 Kinematics Fundamentals .1 Degrees of Freedom .2 Types of Motion .3 Links, Joints, and Kinematic Chains .4 Determining Degree of Freedom.
28 Degree of Freedom in Planar Mechanisms. 29 Degree of Freedom in Spatial Mechanisms .5 Mechanisms and Structures .12 The Grashof Condition. 46 Classification of the Fourbar Linkage .13 Linkages of More Than Four Bars. 52 Geared Fivebar Linkages.
53 Grashof-type Rotatability Criteria for Higher-order Linkages .14 Springs as Links. 55 Pin Joints versus Sliders and Half Joints. 55 Cantilever versusStraddle Mount. 58 Linkages versus Cans .16 Motor and Drives.
60 Air and HyaotAc Motexs. 65 Air and Hyc:kotAc CyiIders. 67 Chapter 3 Graphical Linkage Synthesis. and Motion Generation.
82 Two-Posiffon Synthesis. 83 TPY~n Synthesis with Specified Moving Pivots. 89 1hree-Position Synthesis with Alternate Moving Pivots. 90 TPYee-PositionSynthesis with Specified Fixed Pivots.
93 Position Synthesis for More Than Three Positions .5 Quick-Return Mechanisms. ,97 Fou'bar Quick-Return. 777 Geared Rvebar Cognates of the Fourbar .8 Straight-Line Mechanisms. " 120 Designing Optimum Straight-Line Fourbar Linkages.
" 125 Single-Dwell Linkages. 726 Double-Dwell Linkages. 140 Chapter 4 Position Analysis .2 Position and Displacement .3 Translation, Rotation, and Complex Motion .4 Graphical Position Analysis of Linkages .5 Algebraic Position Analysis of Linkages. 152 Vector Loop Representation of Linkages.
753 Complex Numbers as Vectors. 754 The Vector Loop Equation for a Fourbar Linkage .6 The Fourbar Slider-Crank Position Solution .7 An Inverted Slider-Crank Position Solution .8 Linkages of More Than Four Bars. 164 The Geared Fivebar Linkage .9 Position of Any Point on a Linkage. 169 Extreme Values of the TransmissionAngle .12 Circuits and Branches in Linkages .13 Newton-Raphson Solution Method.
174 One-Dimensional Root-Finding (Newton's Method). 774 Multidimensional Root-Finding (Newton-Raphson Method). 776 Newton-Raphson Solution for the Fourbar Linkage. 178 Chapter 5 Analytical Linkage Synthesis .1 Types of Kinematic Synthesis .3 Two-Position Motion Generation by Analytical Synthesis .4 Comparison of Analytical and Graphical Two-Position Synthesis .5 Simultaneous Equation Solution .6 Three-Position Motion Generation by Analytical Synthesis .7 Comparison of Analytical and Graphical Three-Position Synthesis .8 Synthesis for a Specified Fixed Pivot Location .9 Center-Point and Circle-Point Circles .10 Four- and Five-Position Analytical Synthesis .11 Analytical Synthesis of a Path Generator with Prescribed Timing .12 Analytical Synthesis of a Fourbar Function Generator .13 Other Linkage Synthesis Methods.
224 Precision Point Methods. 226 CouplerCuNe Equation Methods. 232 Chapter 6 Velocity Analysis .1 Definition of Velocity .2 Graphical Velocity Analysis .3 Instant Centers of Velocity .4 Velocity Analysis with Instant Centers. 256 Angular Velocity Raffo.
259 Using Instant Centers in Unkage Design .6 Velocity of Slip .7 Analytical Solutions for Velocity Analysis. 271 The FotIbar Pin-Jointed Unkage. 277 The FotIbar Slider-Crank. 274 The FotIbar Inverted Slider-Crank .8 Velocity Analysis of the Geared Fivebar Linkage .9 Velocity of Any Point on a Linkage.
281 Chapter 7 Acceleration Analysis .1 Definition of Acceleration .2 Graphical Acceleration Analysis .3 Analytical Solutions for Acceleration Analysis. 308 The Fourbar Pin-Jointed Linkage. 308 The Fourbar Slider-Crank .'" 3 73 The Fourbar Inverted Slider-Crank .4 Acceleration Analysis of the Geared Fivebar Linkage .5 Acceleration of any Point on a Linkage .6 Human Tolerance of Acceleration .8 Linkages of N Bars. 327 Chapter 8 Cam Design.
346 Type of Follower Motion. 347 Type of Joint Closure. 348 Type of Follower. 348 Type of Cam.
348 Type of Motion Constraints. 357 Type of Motion Program .3 Double-Dwell Cam Design-Choosing S V A J Functions. 353 The Fundamental LawofCamDesign. 356 Simple Harmonic Motion (SHM) .4 Single-Dwell Cam Design-Choosing S V A J Functions.
378 Double-Dwell Applications of Polynomials. 378 Single-Dwell Applications of Polynomials .6 Critical Path Motion (CPM). 385 Polynomials Used for Critical Path Motion. 386 Half-Period Harmonic Family Functions .7 Sizing the Com-Pressure Angle and Radius of Curvature.
396 PressureAngle-Roller Followers. 397 Choosing a Prime Circle Radius. 400 Overturning Moment-Flat-Faced Follower. 402 Radius of Curvature-Roller Follower.
403 Radius of Curvature-Flat-Faced Follower .8 Com Manufacturing Considerations. 413 Manual or NC Machining to Cam Coordinates (Plunge-Cutting). 413 Continuous Numerical Control with Linear Interpolation. 414 Continuous Numerical Control with Circular Interpolation.
416 Actual Cam Performance Compared to Theoretical Performance.9 Practical Design Considerations. 421 Translating or Oscillating Follower?. 421 Force- or Form-Closed? ,. 422 Radial or Axial Cam?.
422 Roller or Flat-Faced Follower?. 423 ToDwell or Not to Dwell?. 423 To Grind or Not to Grind?. 424 To Lubricate or Not to Lubricate?.
429 Chapter 9 Gear Trains.2 The Fundamental Law of Gearing. 434 The Involute Tooth Form. 437 Changing Center Distance .3 Gear Tooth Nomenclature .4 Interference and Undercutting. 442 Unequal-Addendum Tooth Forms.
447 Spur, Helical, and Herringbone Gears. 447 Worms and Worm Gears. 448 Rack and Pinion. 448 Bevel and Hypoid Gears.
450 Belt and Chain Drives .7 Simple Gear Trains .8 Compound Gear Trains. 453 Design of Compound Trains. 454 Design of Reverted Compound Trains. 456 An Algorithm for the Design of Compound Gear Trains .9 Epicyclic or Planetary Gear Trains.
462 The Tabular Method. 464 The Formula Method .10 Efficiency of Gear Trains .com Chapter 15 Com Dynamics .1 Dynamic Force Analysis of the Force-Closed Cam Follower .3 Kinetostatic Force Analysis of the Force-Closed Cam-Follower .4 Kinetostatic Force Analysis of the Form-Closed Cam-Follower.6 Measuring Dynamic Forces and Accelerations. 714 Chapter 16 Engineering Design .1 A Design Case Study .723 Appendix A Computer Programs. 727 A2 General Program Operation.
735 A4 Program FIVE BAR. 764 Appendix B Material Properties.