Sr/grad level text for a second course in mechanisms, kinematics or machine dynamics.

Contents Preface 1 Introduction to Kinematics and Mechanisms 1.1 Introduction 1.2 Motion 1.3 The Four-Bar Linkage 1.4 The Science of Relative Motion 1.5 Kinematic Diagrams 1.6 Six-Bar Chains 1.7 Degrees of Freedom 1.8 Analysis Versus Synthesis 2 Introduction to Kinematic Synthesis: Graphical and Linear Analytical Methods 2.1 Introduction 2.2 Tasks of Kinematic Synthesis 2.3 Number Synthesis: The Associated Linkage Concept 2.4 Tools of Dimensional Synthesis 2.5 Graphical Synthesis- Motion Generation: Two Prescribed Positions 2.6 Graphical Synthesis- Motion Generation: Three Prescribed Positions 2.7 Graphical Synthesis for Path Generation: Three Prescribed Positions 2.8 Path Generation with Prescribed Timing: Three Prescribed Positions 2.9 Graphical Synthesis for Path Generation (without Prescribed Timing): Four Positions 2.10 Function Generator: Three Precision Points 2.11 The Overlay Method 2.12 Analytical Synthesis Techniques 2.13 Complex Number Modeling in Kinematic Synthesis 2.14 The Dyad or Standard Form 2.15 Number of Prescribed Positions versus Number of Free Choices 2.16 Three Prescribed Positions for Motion, Path, and Function Generation 2.17 Three-Precision-Point Synthesis: Program for Four-Bar Linkages 2.18 Three-Precision-Point Synthesis: Analytical versus Graphical 2.19 Extension for Three-Precision-Point Synthesis to Multiloop Mechanisms 2.20 Circle-Point and Center-Point Circles 2.21 Ground-Pivot Specification 2.22 Freudenstein's Equation for Three-Point Function Generation 2.23 Loop-Closure-Equation Technique 2.24 Order Synthesis: Four-Bar Function Generation 3 Kinematic Synthesis f Linkages: Advanced Topics 3.1 Introduction 3.2 Motion Generation with Four Prescribed Positions 3.3 Solution Procedure for Four Prescribed Positions 3.4 Computer Program for Four Prescribed Precision Points 3.5 Four Prescribed Motion-Generation Positions: Superposition of Two Three-Precision-Point Cases 3.6 Special Cases of Four-Position Synthesis 3.7 Motion Generation: Five Positions 3.8 Solution Procedure for Five Prescribed Positions 3.9 Extensions of Burmester Point Theory: Path Generation with Prescribed Timing and Function Generation 3.10 Further Extension of Burmester Theory 3.11 Synthesis of Multiloop Linkages 3.12 Applications of Dual-Purpose Multiloop Mechanisms 3.13 Kinematic Synthesis of Geared Linkages 3.14 Discussion of Multiply Separated Position Synthesis 4 Curvature Theory 4.1 Introduction 4.2 Fixed and Moving Centrodes 4.3 Velocities 4.4 Accelerations 4.5 Inflection Points and the Inflection Circle 4.6 The Euler-Savary Equation 4.7 Bobillier's Constructions 4.8 The Collineation Axis 4.9 Bobillier's Theorem 4.10 Hartmann's Construction 4.11 The Bresse Circle 4.12 The Acceleration Field 4.13 The Return Circle 4.14 Cusp Points 4.15 Crunode Points 4.16 The p Curve 4.17 The Cubic of Stationary Curvature or Burmester's Circle-Point and Center-Point Curves for Four 4.18 The Circle-Point Curve and Center-Point Curve for Four ISPs 4.19 Ball's Point 5 Dynamics of Mechanisms: Advanced Concepts 5.1 Introduction 5.2 Review of Kinetostatics Using the Matrix Method 5.3 Time Response 5.4 Modification of the Time Response of Mechanisms 5.5 Virtual Work 5.6 Lagrange Equations of Motion 5.7 Free Vibration of Systems with One Degree of Freedom 5.8 Decay of Free Vibrations 5.9 Forced Vibrations of Systems with One Degree of Freedom 5.10 Rotor Balancing 5.11 Introduction to Force and Moment Balancing of Linkages 5.12 Optimization of Shaking Moments 5.13 Shaking Moment Balancing 5.14 Effect of Moment Balance on Input Torque 5.15 Other Techniques for Balancing Linkages 5.16 Computer Program for Force and Moment Balance 5.17 Balancing- Appendix A: The Physical Pendulum 5.18 Balancing- Appendix B: The Effect of Counterweight Configuration on Balance 5.19 Analysis of High-Speed Elastic Mechanisms 5.20 Elastic Beam Element in Plane Motion 5.21 Displacement Fields for Beam Element 5.22 Element Mass and Stiffness Matrices 5.23 System Mass and Stiffness Matrices 5.24 Elastic Linkage Model 5.25 Construction of Total System Matrices 5.26 Equations of Motion 5.27 Damping in Linkages 5.28 Rigid-Body Acceleration 5.29 Stress Computation 5.30 Method of Solution 6 Spatial Mechanisms- with an Introduction to Robotics 6.1 Introduction 6.2 Transformations Describing Planar Finite Displacements 6.3 Planar Finite Transformations 6.4 Identity Transformation 6.5 Planar Matrix Operator for Finite Rotation 6.6 Homogenous Coordinates and Finite Planar Translation 6.7 Concatenation of Finite Displacements 6.8 Rotation about an Axis not through the Origin 6.9 Rigid-Body Transformations 6.10 Spatial Transformations 6.11 Analysis of Spatial Mechanisms 6.12 Link and Joint Modeling with Elementary Matrices 6.13 Kinematic Analysis of an Industrial Robot 6.14 Position Analysis 6.15 Velocity Analysis 6.16 Acceleration Analysis 6.17 Point Kinematics in Three-Dimensional Space 6.18 Example: Kinematic Analysis of a Three-Dimensional Mechanism 6.19 Synthesis of Spatial Mechanisms 6.20 Vector Synthesis of Spatial Mechanisms