Fundamentals of Machine Theory and Mechanisms

The Spanish language original version of this book, written by the same authors, has seen four editions already and has been used in many universities in Spain andLatin America for years. Antonio Simón received his B.S., M.S., and Ph.D. degrees in Aeronautical Engineeringfrom the Polytechnic University of Madrid, Spain. He is currently a Professorof Mechanical Engineering at the University of Malaga, Spain, and he is theHead of the Mechanical Engineering Department at Malaga University. Hisresearch interests include modeling and control of vehicle systems, advancedvehicle systems, genetic algorithms applied to mechanisms and tire models,and biomechanics. Alex Bataller got his Degreein Mechanical Engineering at the University of Malaga in 1983. Afterwards, heworked as Assistant Professor at the same university, teaching Kinematics andDynamics of Machines. In 1987 he became Associate Professor andsince then hehas been teaching Theory of Mechanisms and Machines. In 1986 he developed aneducational software program for the kinematic and dynamic analysis ofmechanisms called MecC. That was the origin of the WinMecC software, which iscurrently used in many universities. At present, his research is focused onthe synthesis of mechanisms with genetic algorithms for medical applications. Juan A. Cabrera received his B.S. Degree in Mechanical Engineering, his M.S. Degree inComputer Science, and his Ph.D. Degree in Mechanical Engineering from theUniversity of Malaga, Spain. He is currently Associate Professor of MechanicalEngineering at the University of Malaga. His research interests includemodeling and control of vehicle systems, advanced vehicle systems, geneticalgorithms applied to mechanisms and tire models, and multiobjectiveevolutionary strategies. Francisco Ezquerro Juanco is Professorof Mechanical Engineering at the University of Málaga. He obtained his M.S. Degreein Mechanical Engineering at the University of Basque Country (UPV/EHU) andhis Ph.D. Degree at the University of Malaga. His research activities lie inthe area of Biomechanics. Antonio J. Guerra received his B.S. Degree in Mechanical Engineeringfrom the University of Malaga, Spain, and his M.S. Degree in PhotovoltaicSolar Energy System Technology from the International University ofAndalucía, Spain. He is currently an Associate Professor of Mechanical Engineeringat the University of Malaga. His research interests include modeling andcontrol of vehicle systems. He also works on machine design, test benches andtest elements. Fernando Nadal received his M.S. Degree in Industrial Electronicsand Automation Engineering and his Ph.D. Degree in Mechanical Engineeringfrom the University of Malaga, Spain. He is currently Associate Professor of MechanicalEngineering at the University of Malaga. His research interests includedevelopment of mechanism simulation software, genetic algorithms applied tomechanisms and multiobjective evolutionary strategies. Antonio Ortiz received his B.S. and M.S. Degrees in Mechanical Engineering from thePolytechnic University of Madrid, Spain, in 1995 and his Ph.D. Degree fromthe University of Malaga, Spain in 2005. He is currently Associate Professorof Mechanical Engineering at the University of Malaga.

• Chapter 1 Kinematic Chains.- 1.1 Basic Concepts.- 1.2 Definitions.- 1.3 Degrees of Freedom of Mechanisms.- 1.4 Kinematic Inversions.- 1.5 Grashof’s Criterion.- 1.6 Mechanical Advantage.- 1.7 Kinematic Curves.- 1.8 Application of Different Mechanisms with Different Purposes.- Chapter 2 Kinematic Analysis of Mechanisms. Relative Velocity and Acceleration. Instant Centers of Rotation.- 2.1 Velocity in Mechanisms.- 2.2 Accelerations in Mechanisms.- 2.3 Exercises with their Solutions.- Chapter 3 Analytical methods for the Kinematic Analysis of Planar Linkages. Raven’s Method.- 3.1 Analytical Methods.- 3.2 Examples with their Solutions.- Chapter 4 Graphical and Analytical Methods for Dynamic Analysis of Planar Linkages.- 4.1 Machine Statics.- 4.2 Dynamic Analysis.- 4.3 Dynamic Analysis. Matrix Method.- 4.4 Exercises with Solutions.- Chapter 5 Balancing of Machinery.- 5.1 Rotor Balancing.- 5.2 Inertia Balancing of Single and Multi-Cylinder Engines.- 5.3 Problems with Solutions.- Chapter 6 Flywheel Calculations.- 6.1 Forces and Torques in Mechanisms.- 6.2 General Equation of Mechanism Motion.- 6.3 Working Periods of a Cyclic Machine.- 6.4 Steady State.- 6.5 Flywheels.- 6.6 Application Examples of Flywheels.- 6.7 Coefficient of Speed Fluctuation.- 6.8 Design of a Flywheel.- Chapter 7 Vibrations in Systems with one Degree of Freedom.- 7.1 Introduction to Oscillatory Motion.- 7.2 Single Degree of Freedom (SDOF) Systems.- 7.3 Free Vibrations in SDOF Systems.- 7.4 Forced Vibrations in SDOF Systems.- Chapter 8 Gears.- 8.1 Introduction.- 8.2 Toothed Wheels (Gears).- 8.3 Condition for Constant Velocity Ratio. Fundamental Law of Gearing.- 8.4 Involute Teeth.- 8.5 Definitions and Nomenclature.- 8.6 Involute Tooth Action.- 8.7 Contact Ratio.- 8.8 Relationship between Velocity Ratio and Base Circles.- 8.9 Interference in Involute Gears.- 8.10 Gear Classification.- 8.11 Manufacturing of Toothed Wheels.- 8.12 Gear Standardization.- 8.13 Helical Gears.- 8.14 Bevel Gears.- 8.15Force Analysis in Toothed Wheels.- Chapter 9 Gear Trains.- 9.1 Classification of Gear Trains.- 9.2 Ordinary Trains.- 9.3 Planetary or Epicyclic Trains.- 9.4 Examples.- Chapter 10 Synthesis of Planar Mechanisms.- 10.1 Types of Synthesis.- 10.2 Function Generation Synthesis.- 10.3 Trajectory Generation Synthesis.- 10.4 Optimal Synthesis of Mechanisms.- 10.5 Analysis of the Objective Function.- 10.6 Optimization Method Based on Evolutionary Algorithms.- 10.7 Results.- Appendix I: Position Kinematic Analysis. Trigonometric Method.- I.1 Position Analysis of a Four-Bar Mechanism.- I.2 Position Analysis of a Crank-Shaft Mechanism.- I.3 Position Analysis of a Slider Mechanism.- I.4 Two Generic Bars of a Mechanism.- Appendix II: Freudenstein’s Method to Solve the Position Equations in a Four-Bar Mechanism.- II.1 Position Analysis of a Four-Bar Mechanism by using Raven’s Method.- II.2 Freudenstein’s Method.- Appendix III: Kinematic and Dynamic Analysis of a Mechanism.- III.1 Kinematic Chain.- III.2 Slider Displacement versus Crank Rotation.- III.4 Velocity Analysis by Relative Velocity Method.- III.4. Instantaneous Center Method for Velocities.- III.5 Acceleration Analysis with the Relative Acceleration Method.- III.6 Raven’s Method.- III.7 Mass, Inertia Moments, Inertia Forces and Inertia Pairs.- III.8. Force Analysis. Graphical Method.- III.9 Dynamic Analysis. Matrix Method.