DESIGN OF MACHINERY AN INTRODUCTION TO THE SYNTHESIS AND ANALYSIS OF MECHANISMS AND MACHINES Second Edition Robert L.Norton Worcester Polytechnic Institute Worcester,Massachusetts WCB raw Hi"McGraw-Hill Boston Burr Ridge,IL Dubuque,IA Madison,WI New York San Francisco St.Louis Bangkok Bogota Caracas Lisbon London Madrid Mexico City Milan New Delhi Seoul Singapore Sydney Taipei Toronto
WCB/McGraw-Hill A Division of The McGraw-Hill Companies DESIGN OF MACHINERY: An Introduction to the Synthesis and Analysis of Mechanisms and Machines Copyright 1999 by MeGraw-Hill Inc.All rights reserved.Previous edition 1992.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 I234567890QPF/QP℉I098 ISBN0-07-048395-7 ISBN0-07-913272-3(set) ISBN0-04-847978-9(CD-ROM Vice president and editorial director: Kevin T.Kane Publisher:Ibomas 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-MathTypeR,and PagemakerB 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 Soffware Inc..22521 Styles St.,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. p.cm.-(McGraw-Hill series in mechanical engineering) Includes bibliographical references and index. ISBN0-07-048395-7 1.Machinery-Design. 2.Machinery,Kinematics. 3.Machinery, Dynamics of. I.Title. II.Series. TJ230.N631999 91-7510 621.815-dc20 http://www.mhhe.com
DESIGN OF MACHINERY: An Introduction to the Synthesis and Analysis of Mechanisms and Machines Copyright © 1999 by McGraw-Hill Inc. All rights reserved. Previous edition © 1992. 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., 22521 Styles St., 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. p. cm. --{McGraw-Hill series in mechanical engineering) Includes bibliographical references and index. ISBN 0-07-048395-7 1. Machinery-Design. 2. Machinery, Kinematics. 3. Machinery, Dynamics of. I. Title. II. Series. TJ230.N63 1999 91-7510 621.8'15-dc20 http://www.mhhe.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.,Waltham,Mass.,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.He holds 13 U.S.patents. 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. See Index
ABOUT THE AUTHOR Robert L. Norton earned undergraduate degrees in both mechanical engineering and industrial technology at Northeastern University and an MS in engineering design at Tufts University. He is a registered professional engineer in Massachusetts and New Hampshire. He has extensive industrial experience in engineering design and manufacturing and many years experience teaching mechanical engineering, engineering design, computer science, and related subjects at Northeastern University, Tufts University, and Worcester Polytechnic Institute. At Polaroid Corporation for ten years, he designed cameras, related mechanisms, and high-speed automated machinery. He spent three years at Jet Spray Cooler Inc., Waltham, Mass., designing food-handling machinery and products. For five years he helped develop artificial-heart and noninvasive assisted-circulation (counterpulsation) devices at the Tufts New England Medical Center and Boston City Hospital. Since leaving industry to join academia, he has continued as an independent consultant on engineering projects ranging from disposable medical products to high-speed production machinery. He holds 13 U.S. patents. 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 department. 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 machinery, 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 American Society of Mechanical Engineers and a member of the Society of Automotive Engineers. 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. * See Index
Thisbook isdedicated to the memory of my father, Harry J.Norton,Sr. 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 supprt; and to my children, Robert,Mary,and Thomas, who make it all worthwhile
Thisbook isdedicated to the memory of my father, Harry J. Norton, Sr. 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
CONTENTS Preface to the Second Edition XVIⅦ Preface to the First Edition XIX PARTI KINEMATICS OF MECHANISMS 1 Chapter 1 Introduction..3 1.0 Purpose 3 1.1 Kinematics and Kinetics 1.2 Mechanisms and Machines 4 1.3 A Brief History of Kinematics 1.4 Applications of Kinematics 6 1.5 The Design Process 7 Design,Invention,Creativity .7 Identification of Need ....... .8 Background Research… 9 Goal Statement Performance Specifications 9 ldeation and Invention 70 Analysis ... 77 Selection.. 72 Detailed Design Prototyping and Testing. 7 Production..… 13 1.6 Other Approaches to Design.....… 14 Axiomatic Design.......... .…75 1.7 Multiple Solutions 15 1.8 Human Factors Engineering .15 1.9 The Engineering Report 16 1.10 Units....... 16 1.11 What's to Come "18 1.12 References 19 1.13 Bibliography 20 Chapter 2 Kinematics Fundamentals. 22 2.0 Introduction 22 2.1 Degrees of Freedom 22 2.2 Types of Motion 23 2.3 Links,Joints,and Kinematic Chains 24 2.4 Determining Degree of Freedom 4.04h4.4…040404.4…0…044…0…04044…0…04044…0。 t4 28 Degree of Freedom in Planar Mechanisms............... .29 Degree of Freedom in Spatial Mechanisms...................... 小 32 2.5 Mechanisms and Structures 4小小小4小4小小44小 32 2.6 Number Synthesis 韩 33 2.7 Paradoxes 44404h+0+4440。h+0+4440.0+4+4+=044+444+…044+4+-+。044+4+-+。444+4+4+44444.44++4444.44+44444.44++444.44+40 37 2.8 Isomers 38 2.9 Linkage Transformation h4++040+44-h。+0+4-h。+0+44-h。+0+44-h-+e+44-e4+4-+。e4++44-。0++44。e4+4 40 2.10 Intermittent Motion 42 2.11 Inversion 44
CONTENTS Preface to the Second Edition ................................................................................... XVII Preface to the First Edition ........................................................................................... XIX PART I KINEMATICS OF MECHANISMS 1 Chapter 1 Introduction ............................................................................. 3 1.0 Purpose .............................................................................................................. 3 1.1 Kinematics and Kinetics ................................................................................. 3 1.2 Mechanisms and Machines ........................................................................... 4 1.3 A Brief History of Kinematics .......................................................................... 5 1.4 Applications of Kinematics ............................................................................ 6 1.5 The Design Process ............ ,............................................................................. 7 Design, Invention, Creativity ....................................................................... 7 Identification of Need ................................................................................. 8 Background Research .....................................................................··········· 9 Goal Statement ........................................................................................... 9 Performance Specifications ....................................................................... 9 Ideation and Invention ............................................................................. 70 Analysis ....................................................................................................... 7 7 Selection ..................................................................................................... 72 Detailed Design ................................................................................········· 73 Prototyping and Testing ............................................................................ 73 Production .................................................................................................. 73 1.6 Other Approaches to Design .......................... " ................ " ........" .............. 14 Axiomatic Design ...................................................................................···· 75 1.7 Multiple Solutions ................................................ ,.......................................... 15 1.8 Human Factors Engineering ............................ " .............. " .................... " .... 15 1.9 The Engineering Report ................. " ............................................................. 16 1.10 Units ..................................... " ........................................................................... 16 1.11 What's to Come ........................................................................................... " 18 1.12 References ........................................................... ,.......................................... 19 1.13 Bibliography ....................... " ................................ ,.......................................... 20 Chapter 2 Kinematics Fundamentals .................................................. 22 2.0 Introduction ......................................................... ,........................ " ......... " ..... 22 2.1 Degrees of Freedom ..................................................................................... 22 2.2 Types of Motion ................. " ........................................................................... 23 2.3 Links, Joints, and Kinematic Chains ............................................................ 24 2.4 Determining Degree of Freedom ............................................. " ................ 28 Degree of Freedom in Planar Mechanisms ... ............ ......... ...... 29 Degree of Freedom in Spatial Mechanisms .. ....... .... ......... ..... 32 2.5 Mechanisms and Structures ......................................................................... 32 2.6 Number Synthesis ....................................................... " ........................ " ........ 33 2.7 Paradoxes ....................................................................................................... 37 2.8 Isomers ............................................................................................................. 38 2.9 Linkage Transformation ................................................................................ 40 2.10 Intermittent Motion ................. " ..................................................................... 42 2.11 Inversion .......................................................................................................... 44