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# Theory of Machines and Mechanisms

## byJohn J. Uicker, Gordon R. Pennock, Joseph E. Shigley

### Hardcover | March 3, 2010

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Theory of Machines and Mechanisms covers the fundamentals of mechanisms, kinematics, and dynamics of machines. Known for its simplicity and clarity of writing style, the revised fourth edition features more worked examples throughout, new and updated end-of-chapter homework problems, and newinformation on synthesis and curvature theory. With a collection of MATLAB examples designed to tie the material in with MATLAB software and an in-text CD featuring working model animations of key concepts from the book, this is an ideal resource for students studying mechanical engineering.

### Details & Specs

Title:Theory of Machines and MechanismsFormat:HardcoverDimensions:928 pages, 9.1 × 7.7 × 1.6 inPublished:March 3, 2010Publisher:Oxford University PressLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:0195371232

ISBN - 13:9780195371239

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Table of Contents

Part 1 Kinematics and Mechanisms1. The World of Mechanisms1.1 Introduction1.2 Analysis and Synthesis1.3 The Science of Mechanics1.4 Terminology, Definitions, and Assumptions1.5 Planar, Spherical, and Spatial Mechanisms1.6 Mobility1.7 Classification of Mechanisms1.8 Kinematic Inversion1.9 Grashof's Law1.10 Mechanical AdvantageProblems2. Position and Displacement2.1 Locus of a Moving Point2.2 Position of a Point2.3 Position Difference Between Two Points2.4 Apparent Position of a Point2.5 Absolute Position of a Point2.6 The Loop-Closure Equation2.7 Graphic Position Analysis2.8 Algebraic Position Analysis2.9 Complex-Algebra Solutions of Planar Vector Equations2.10 Complex Polar Algebra2.11 The Chace Solutions to Planar Vector Equations2.12 Position Analysis Techniques2.13 Coupler-Curve Generation2.14 Displacement of a Moving Point2.15 Displacement Difference Between Two Points2.16 Rotation and Translation2.17 Apparent Displacement2.18 Absolute Displacement2.19 Apparent Angular DisplacementProblems3. Velocity3.1 Definition of Velocity3.2 Rotation of a Rigid Body3.3 Velocity Difference Between Points of a Rigid Body3.4 Graphic Methods; Velocity Polygons3.5 Apparent Velocity of a Point in a Moving Coordinate Syst3.6 Apparent Angular Velocity3.7 Direct Contact and Rolling Contact3.8 Systematic Strategy for Velocity Analysis3.9 Analytic Methods3.10 Complex-Algebra Methods3.11 The Vector Method3.12 The Method of Kinematic Coefficients3.13 Instantaneous Center of Velocity3.14 The Aronhold-Kennedy Theorem of Three Centers3.15 Locating Instant Centers of Velocity3.16 Velocity Analysis Using Instant Centers3.17 The Angular Velocity Ratio Theorem3.18 Relationships Between First-Order Kinematic Coefficients and Instant Centers3.19 Freudenstein's Theorem3.20 Indices of Merit; Mechanical Advantage3.21 CentrodesProblems4. Acceleration4.1 Definition of Acceleration4.2 Angular Acceleration4.3 Acceleration Difference Between Points of a Rigid Bod4.4 Acceleration Polygons4.5 Apparent Acceleration of a Point in a Moving Coordinate System4.6 Apparent Angular Acceleration4.7 Direct Contact and Rolling Contact4.8 Systematic Strategy for Acceleration Analysis4.9 Analytic Methods4.10 Complex-Algebra Methods4.11 The Chace Solutions4.12 The Method of Kinematic Coefficients4.13 The Euler-Savary Equation4.14 The Bobillier Constructions4.15 The Instant Center of Acceleration4.16 The Bresse Circle (or de La Hire Circle)4.17 Radius of Curvature of Point Trajectory Using Kinematic Coefficients4.18 The Cubic of Stationary CurvatureProblems5. Multi-Degree-of-Freedom Planar Linkages5.1 Introduction5.2 Position Analysis; Algebraic Solution5.3 Graphic Methods; Velocity Polygons5.4 Instant Centers of Velocity5.5 First-Order Kinematic Coefficients5.6 The Method of Superposition5.7 Graphic Method; Acceleration Polygons5.8 Second-Order Kinematic Coefficients5.9 Path Curvature of a Coupler Point5.10 The Finite Difference MethodProblemsPart 2 Design of Mechanisms6. Cam Design6.1 Introduction6.2 Classification of Cams and Followers6.3 Displacement Diagrams6.4 Graphical Layout of Cam Profiles6.5 Kinematic Coefficients of the Follower Motion6.6 High-Speed Cams6.7 Standard Cam Motions6.8 Matching Derivatives of Displacement Diagrams6.9 Plate Cam with Reciprocating Flat-Face Follower6.10 Plate Cam with Reciprocating Roller FollowerProblems7. Spur Gears7.1 Terminology and Definitions7.2 Fundamental Law of Toothed Gearing7.3 Involute Properties7.4 Interchangeable Gears; AGMA Standards7.5 Fundamentals of Gear-Tooth Action7.6 The Manufacture of Gear Teeth7.7 Interference and Undercutting7.8 Contact Ratio7.9 Varying the Center Distance7.10 Involutometry7.11 Nonstandard Gear TeethProblems8. Helical Gears, Bevel Gears, Worms and Worm Gears8.1 Parallel-Axis Helical Gears8.2 Helical Gear Tooth Relations8.3 Helical Gear Tooth Proportions8.4 Contact of Helical Gear Teeth8.5 Replacing Spur Gears with Helical Gears8.6 Herringbone Gears8.7 Crossed-Axis Helical Gears8.8 Straight-Tooth Bevel Gears8.9 Tooth Proportions for Bevel Gears8.10 Crown and Face Gears8.11 Spiral Bevel Gears8.12 Hypoid Gears8.13 Worms and Worm GearsProblems9. Mechanism Trains9.1 Parallel-Axis Gear Trains9.2 Examples of Gear Trains9.3 Determining Tooth Numbers9.4 Epicyclic Gear Trains9.5 Bevel Gear Epicyclic Trains9.6 Analysis of Epicyclic Gear Trains by Formula9.7 Tabular Analysis of Epicyclic Gear Trains9.8 Summers and Differentials9.9 All Wheel Drive TrainProblems10. Synthesis of Linkages10.1 Type, Number, and Dimensional Synthesis10.2 Function Generation, Path Generation, and Body Guidance10.3 Two Finitely Separated Positions of a Rigid Body (N = 2)10.4 Three Finitely Separated Positions of a Rigid Body (N = 3)10.5 Four Finitely Separated Positions of a Rigid Body (N = 4)10.6 Five Finitely Separated Positions of a Rigid Body (N = 5)10.7 Precision Positions; Structural Error; Chebychev Spacing10.8 The Overlay Method10.9 Coupler-Curve Synthesis10.10 Cognate Linkages; The Roberts-Chebychev Theorem10.11 Freudenstein's Equation10.12 Analytic Synthesis Using Complex Algebra10.13 Synthesis of Dwell Mechanisms10.14 Intermittent Rotary MotionProblems11. Spatial Mechanisms11.1 Introduction11.2 Exceptions to the Mobility of Mechanisms11.3 The Spatial Position-Analysis Problem11.4 Spatial Velocity and Acceleration Analyses11.5 Euler Angles11.6 The Denavit-Hartenberg Parameters11.7 Transformation-Matrix Position Analysis11.8 Matrix Velocity and Acceleration Analyses11.9 Generalized Mechanism Analysis Computer ProgramsProblems12. Robotics12.1 Introduction12.2 Topological Arrangements of Robotic Arms12.3 Forward Kinematics12.4 Inverse Position Analysis12.5 Inverse Velocity and Acceleration Analyses12.6 Robot Actuator Force AnalysisProblemsPart 3 Dynamics of Machines13. Static Force Analysis13.1 Introduction13.2 Newton's Laws13.3 Systems of Units13.4 Applied and Constraint Forces13.5 Free-Body Diagrams13.6 Conditions for Equilibrium13.7 Two- and Three-Force Members13.8 Four-Force Members13.9 Friction-Force Models13.10 Static Force Analysis with Friction13.11 Spur- and Helical-Gear Force Analysis13.12 Straight-Tooth-Bevel-Gear Force Analysis13.13 The Method of Virtual Work13.14 Euler Column Formula13.15 The Critical Unit Load13.16 Critical Unit Load and the Slenderness Ratio13.17 The Johnson Parabolic EquationProblems14. Dynamic Force Analysis14.1 Introduction14.2 Centroid and Center of Mass14.3 Mass Moments and Products of Inertia14.4 Inertia Forces and D'Alembert's Principle14.5 The Principle of Superposition14.6 Planar Rotation about a Fixed Center14.7 Shaking Forces and Moments14.8 Complex Algebra Approach14.9 Equation of Motion From Power Equation14.10 Measuring Mass Moment of Inertia14.11 Transformation of Inertia Axes14.12 Euler's Equations of Motion14.13 Impulse and Momentum14.14 Angular Impulse and Angular MomentumProblems15. Vibration Analysis15.1 Differential Equations of Motion15.2 A Vertical Model15.3 Solution of the Differential Equation15.4 Step Input Forcing15.5 Phase-Plane Representation15.6 Phase-Plane Analysis15.7 Transient Disturbances15.8 Free Vibration with Viscous Damping15.9 Damping Obtained by Experiment15.10 Phase-Plane Representation of Damped Vibration15.11 Response to Periodic Forcing15.12 Harmonic Forcing15.13 Forcing Caused by Unbalance15.14 Relative Motion15.15 Isolation15.17 First and Second Critical Speeds of a Shaft15.18 Torsional SystemsProblems16. Dynamics of Reciprocating Engines16.1 Engine Types16.2 Indicator Diagrams16.3 Dynamic Analysis-General16.4 Gas Forces16.5 Equivalent Masses16.6 Inertia Forces16.7 Bearing Loads in a Single-Cylinder Engine16.8 Crankshaft Torque16.9 Shaking Forces of Engines16.10 Computation HintsProblems17. Balancing17.1 Static Unbalance17.2 Equations of Motion17.3 Static Balancing Machines17.4 Dynamic Unbalance17.5 Analysis of Unbalance17.6 Dynamic Balancing17.7 Balancing Machines17.8 Field Balancing with a Programmable Calculator17.9 Balancing a Single-Cylinder Engine17.10 Balancing Multi-Cylinder Engines17.11 Analytical Technique for Balancing Multi-Cylinder Engines17.12 Balancing Linkages17.13 Balancing of MachinesProblems18. Cam Dynamics18.1 Rigid- and Elastic-Body Cam Systems18.2 Analysis of an Eccentric Cam18.3 Effect of Sliding Friction18.4 Analysis of Disk Cam with Reciprocating Roller Follower18.5 Analysis of Elastic Cam Systems18.6 Unbalance, Spring Surge, and WindupProblems19. Flywheels, Governors, and Gyroscopes19.1 Dynamic Theory of Flywheels19.2 Integration Technique19.3 Multi-Cylinder Engine Torque Summation19.4 Classification of Governors19.5 Centrifugal Governors19.6 Inertia Governors19.7 Mechanical Control Systems19.8 Standard Input Functions19.9 Solution of Linear Differential Equations19.10 Analysis of Proportional-Error Feedback Systems19.11 Introduction to Gyroscopes19.12 The Motion of a Gyroscope19.13 Steady or Regular Precession19.14 Forced PrecessionProblemsAPPENDIXES:Appendix A: TablesTable 1 Standard SI PrefixesTable 2 Conversion from US Customary Units to SI UnitsTable 3 Conversion from SI Units to US Customary UnitsTable 4 Properties of AreasTable 5 Mass Moments of InertiaTable 6 Involute FunctionAppendix B: Answers to Selected ProblemsIndex