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MACHINES AND MECHANISMS
APPLIED KINEMATIC ANALYSIS
Fourth Edition
David H. Myszka
University of Dayton
Prentice Hall
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permission, in this textbook appear on the appropriate page within the text. Unless otherwise
stated, all artwork has been provided by the author.
Copyright © 2012, 2005, 2002, 1999 Pearson Education, Inc., publishing as Prentice Hall,
One Lake Street, Upper Saddle River, New Jersey, 07458. All rights reserved. Manufactured
in the United States of America. This publication is protected by Copyright, and permission
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Many of the designations by manufacturers and seller to distinguish their products are
claimed as trademarks. Where those designations appear in this book, and the publisher was
aware of a trademark claim, the designations have been printed in initial caps or all caps.
10 9 8 7 6 5 4 3 2 1
The objective of this book is to provide the techniques 6. Every chapter concludes with at least one case study.
necessary to study the motion of machines. A focus is placed on Each case illustrates a mechanism that is used on
the application of kinematic theories to real-world machinery. industrial equipment and challenges the student to
It is intended to bridge the gap between a theoretical study of discuss the rationale behind the design and suggest
kinematics and the application to practical mechanisms. improvements.
Students completing a course of study using this book should 7. Both static and dynamic mechanism force analysis
be able to determine the motion characteristics of a machine. methods are introduced.
The topics presented in this book are critical in machine design
8. Every major concept is followed by an example
process as such analyses should be performed on design con-
problem to illustrate the application of the
cepts to optimize the motion of a machine arrangement.
concept.
This fourth edition incorporates much of the feedback
received from instructors and students who used the first three 9. Every Example Problem begins with an introduction
editions. Some enhancements include a section introducing of a real machine that relies on the mechanism being
special-purpose mechanisms; expanding the descriptions of analyzed.
kinematic properties to more precisely define the property; 10. Numerous end-of-chapter problems are consistent
clearly identifying vector quantities through standard boldface with the application approach of the text. Every
notation; including timing charts; presenting analytical concept introduced in the chapter has at least one
synthesis methods; clarifying the tables describing cam fol- associated problem. Most of these problems include
lower motion; and adding a standard table used for selection of the machine that relies on the mechanism being
chain pitch. The end-of-chapter problems have been reviewed. analyzed.
In addition, many new problems have been included. 11. Where applicable, end-of-chapter problems are
It is expected that students using this book will have a provided that utilize the analytical methods and are
good background in technical drawing, college algebra, and best suited for programmable devices (calculators,
trigonometry. Concepts from elementary calculus are spreadsheets, math software, etc.).
mentioned, but a background in calculus is not required.
Also, knowledge of vectors, mechanics, and computer Initially, I developed this textbook after teaching mech-
application software, such as spreadsheets, will be useful. anisms for several semesters and noticing that students did
However, these concepts are also introduced in the book. not always see the practical applications of the material. To
The approach of applying theoretical developments to this end, I have grown quite fond of the case study problems
practical problems is consistent with the philosophy of and begin each class with one. The students refer to this as
engineering technology programs. This book is primarily the “mechanism of the day.” I find this to be an excellent
oriented toward mechanical- and manufacturing-related opportunity to focus attention on operating machinery.
engineering technology programs. It can be used in either Additionally, it promotes dialogue and creates a learning
associate or baccalaureate degree programs. community in the classroom.
Following are some distinctive features of this book: Finally, the purpose of any textbook is to guide the
students through a learning experience in an effective
1. Pictures and sketches of machinery that contain manner. I sincerely hope that this book will fulfill this inten-
mechanisms are incorporated throughout the text. tion. I welcome all suggestions and comments and can be
2. The focus is on the application of kinematic theories to reached at dmyszka@udayton.edu.
common and practical mechanisms.
3. Both graphical techniques and analytical methods are ACKNOWLEDGMENTS
used in the analysis of mechanisms.
I thank the reviewers of this text for their comments and
4. An examination copy of Working Model®, a commer-
suggestions: Dave Brock, Kalamazoo Valley Community
cially available dynamic software package (see Section 2.3
College; Laura Calswell, University of Cincinnati; Charles
on page 32 for ordering information), is extensively used
Drake, Ferris State University; Lubambala Kabengela,
in this book. Tutorials and problems that utilize this
University of North Carolina at Charlotte; Sung Kim,
software are integrated into the book.
Piedmont Technical College; Michael J. Rider, Ohio
5. Suggestions for implementing the graphical techniques Northern University; and Gerald Weisman, University of
on computer-aided design (CAD) systems are included Vermont.
and illustrated throughout the book. Dave Myszka
iii
CONTENTS
INTRODUCTION TO MECHANISMS
AND KINEMATICS
kinematic analysis. They do supply forces and must be A cam joint is shown in Figure 1.5a. It allows for both
included during the dynamic force portion of analysis. rotation and sliding between the two links that it connects.
A joint is a movable connection between links and allows Because of the complex motion permitted, the cam connec-
relative motion between the links. The two primary joints, also tion is called a higher-order joint, also called half joint. A gear
called full joints, are the revolute and sliding joints. The connection also allows rotation and sliding between two
revolute joint is also called a pin or hinge joint. It allows pure gears as their teeth mesh. This arrangement is shown in
rotation between the two links that it connects. The sliding Figure 1.5b. The gear connection is also a higher-order joint.
joint is also called a piston or prismatic joint. It allows linear A simple link is a rigid body that contains only two
sliding between the links that it connects. Figure 1.4 illustrates joints, which connect it to other links. Figure 1.6a illustrates
these two primary joints. a simple link. A crank is a simple link that is able to complete
Link 2
Link 1
Link 1
Link 2
Link 1
Link 2
FIGURE 1.5 Higher-order joints: (a) Cam joint and (b) Gear joint.
FIGURE 1.6 Links: (a) Simple link and (b) Complex link.
4 CHAPTER ONE
It is easier to represent the parts in skeleton form so that Table 1.1 shows typical conventions used in creating kine-
only the dimensions that influence the motion of the matic diagrams.
mechanism are shown. These “stripped-down” sketches of A kinematic diagram should be drawn to a scale pro-
mechanisms are often referred to as kinematic diagrams. The portional to the actual mechanism. For convenient refer-
purpose of these diagrams is similar to electrical circuit ence, the links are numbered, starting with the frame as
schematic or piping diagrams in that they represent vari- link number 1. To avoid confusion, the joints should be
ables that affect the primary function of the mechanism. lettered.
Simple Link
Simple Link
(with point
of interest)
Complex Link
Pin Joint
(continued)
6 CHAPTER ONE
Slider Joint
Link 1
Cam Joint
Link 2
Gear Joint
B
2
A
3 4
1
C
D A
1 X
4 3
Y
C 2 B
B
C 4
D
A
2
1
X
6. Calculate Mobility
Having four links and four pin joints,
n = 4, jp = 4 pins, j h = 0
10 CHAPTER ONE
and
M = 3(n - 1) - 2jp - j h = 3(4 - 1) - 2(4) - 0 = 1
With one degree of freedom, the clamp mechanism is constrained. Moving only one link, the handle, precisely
positions all other links in the clamp.
X
3
C
4
B D
2
1
A
6. Calculate Mobility
It was determined that there are four links in this mechanism. There are also three pin joints and one slider joint.
Therefore,
n = 4, jp = (3 pins + 1 slider) = 4, j h = 0
and
M = 3(n - 1) - 2jp - j h = 3(4 - 1) - 2(4) - 0 = 1
With one degree of freedom, the can crusher mechanism is constrained. Moving only one link, the handle, precisely
positions all other links and crushes a beverage can placed under the crushing block.
Language: Finnish
Kirj.
Heikki Välisalmi
Alkusananen.
I. Pietari v. 1918 alussa.
II. Bolshevikien valtaanpääsy ja heidän hallituskautensa
ensi vaiheet.
III. Bolshevikien taistelu vastavallankumousta ja keinottelua
vastaan v. 1918 ensi puoliskolla.
IV. Hallitussuunnan ja yleisen tilanteen kehittyminen v. 1918.
V. Yritys päästä pois Bolshevikiasta ja sen nolo loppu.
VI. Jälleen tshekan säilytettävänä. — Punainen terrori.
VII. Bolshevismin kehitys kommunismiin.
VIII. Asuntokysymys.
IX. Neuvostohallituksen tarjoama jokapäiväinen leipä.
X. Talonpoikaisväestön asema kommunismin valtakaudella.
XI. "Köyhälistön diktatuuri."
XII. Neuvostovallan virkakoneisto.
XIII. Viimisen kerran tshekan kynsissä.
Alkusananen.
Alunperin ei ollut lainkaan tarkoituksenani julaista kirjan muodossa
muistelmiani ja vaikutelmiani Neuvosto-Venäjältä. Vasta viime
talvena, luettuani useampiakin kuvauksia bolshevikien valtakunnasta
ja huomattuani ne kaikki enemmän tai vähemmän tosioloihin
perustumattomiksi, innostuin kyhäämään nyt ilmestyvät luvut.
Jouduin olemaan Venäjällä juuri ne vuodet, joitten kuluessa
kommunismia yritettiin kansaan istuttaa, joten kirjassani kuvataan
senaikaisia oloja. Minun Venäjältä poistuessani, keväällä v. 1921, oli
juuri tullut dekreetti kapitalismin uudelleen elvyttämisestä.
Tekijä.
I.
*****