8.0 Introduction ................................................................................................... 377 8.1 Cam Terminology ......................................................................................... 378 Type of Follower Motion .......................................................................... 379 Type of Joint Closure ............................................................................... 380 Type of Follower ....................................................................................... 380 Type of Cam ............................................................................................ 380 CONTENTS xi
Type of Motion Constraints ..................................................................... 383
Type of Motion Program ......................................................................... 383 8.2 S V A J Diagrams ......................................................................................... 384 8.3 Double-Dwell Cam DesignChoosing S V A J Functions ..................... 385 The Fundamental Law of Cam Design .................................................. 388 Simple Harmonic Motion (SHM) ............................................................. 389 Cycloidal Displacement ......................................................................... 391 Combined Functions ............................................................................... 394 The SCCA Family of Double-Dwell Functions ........................................ 397 Polynomial Functions ............................................................................... 407 Double-Dwell Applications of Polynomials ........................................... 408 8.4 Single-Dwell Cam DesignChoosing S V A J Functions ........................ 411 Single-Dwell Applications of Polynomials .............................................. 414 Effect of Asymmetry on the Rise-Fall Polynomial Solution ................... 417 8.5 Critical Path Motion (CPM) ........................................................................ 420 Polynomials Used for Critical Path Motion ............................................ 421 8.6 Sizing the CamPressure Angle and Radius of Curvature ................... 429 Pressure AngleTranslating Roller Followers ......................................... 429 Choosing a Prime Circle Radius ............................................................. 433 Overturning MomentTranslating Flat-Faced Follower ...................... 434 Radius of CurvatureTranslating Roller Follower ................................. 434 Radius of CurvatureTranslating Flat-Faced Follower ........................ 439 8.7 Practical Design Considerations ................................................................ 443 Translating or Oscillating Follower? ........................................................ 443 Force- or Form-Closed? .......................................................................... 444 Radial or Axial Cam? .............................................................................. 445 Roller or Flat-Faced Follower? ................................................................ 445 To Dwell or Not to Dwell? ........................................................................ 446 To Grind or Not to Grind? ........................................................................ 446 To Lubricate or Not to Lubricate? .......................................................... 447 8.8 References ..................................................................................................... 447 8.9 Problems ......................................................................................................... 448 8.10 Projects ........................................................................................................... 451
10.0 Introduction ................................................................................................... 513 10.1 Newtons Laws of Motion ............................................................................ 513 10.2 Dynamic Models ........................................................................................... 514 10.3 Mass ................................................................................................................ 514 10.4 Mass Moment and Center of Gravity ....................................................... 515 10.5 Mass Moment of Inertia (Second Moment of Mass) ............................. 517 10.6 Parallel Axis Theorem (Transfer Theorem) ................................................. 519 10.7 Determining Mass Moment of Inertia ....................................................... 519 Analytical Methods ................................................................................. 520 Experimental Methods ............................................................................ 520 10.8 Radius of Gyration ........................................................................................ 521 10.9 Modeling Rotating Links .............................................................................. 522 10.10 Center of Percussion .................................................................................... 523 10.11 Lumped Parameter Dynamic Models ...................................................... 525 Spring Constant ....................................................................................... 525 Damping .................................................................................................. 526 10.12 Equivalent Systems ....................................................................................... 528 Combining Dampers ............................................................................... 529 Combining Springs .................................................................................. 530 Combining Masses .................................................................................. 531 Lever and Gear Ratios ............................................................................ 531 10.13 Solution Methods .......................................................................................... 537 10.14 The Principle of dAlembert ........................................................................ 538 10.15 Energy MethodsVirtual Work ................................................................... 539 10.16 References ..................................................................................................... 542 10.17 Problems ......................................................................................................... 542
Chapter 11 Dynamic Force Analysis ....................................................... 545
11.0 Introduction ................................................................................................... 545 11.1 Newtonian Solution Method ...................................................................... 545 11.2 Single Link in Pure Rotation ......................................................................... 546 11.3 Force Analysis of A Threebar Crank-Slide Linkage ................................. 549 11.4 Force Analysis of a Fourbar Linkage ......................................................... 555 11.5 Force Analysis of a Fourbar Slider-Crank Linkage .................................. 562 11.6 Force Analysis of the Inverted Slider-Crank ............................................. 564 11.7 Force AnalysisLinkages with More Than Four Bars .............................. 567 11.8 Shaking Force and Shaking Moment ........................................................ 568 CONTENTS xiii
11.9 Linkage Force Analysis by Energy Methods ............................................ 569