Page 17 - Dynamics of Mechanical Systems
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16.15 Closure ...............................................................................................................................568
References.....................................................................................................................................568
Problems .......................................................................................................................................569
Chapter 17 Mechanical Components: Gears .......................................................................573
17.1 Introduction.......................................................................................................................573
17.2 Preliminary and Fundamental Concepts: Rolling Wheels........................................573
17.3 Preliminary and Fundamental Concepts: Conjugate Action....................................575
17.4 Preliminary and Fundamental Concepts: Involute Curve Geometry.....................578
17.5 Spur Gear Nomenclature................................................................................................581
17.6 Kinematics of Meshing Involute Spur Gear Teeth .....................................................584
17.7 Kinetics of Meshing Involute Spur Gear Teeth...........................................................588
17.8 Sliding and Rubbing between Contacting Involute Spur Gear Teeth ....................589
17.9 Involute Rack....................................................................................................................591
17.10 Gear Drives and Gear Trains .........................................................................................592
17.11 Helical, Bevel, Spiral Bevel, and Worm Gears ............................................................595
17.12 Helical Gears.....................................................................................................................595
17.13 Bevel Gears........................................................................................................................596
17.14 Hypoid and Worm Gears ...............................................................................................597
17.15 Closure ...............................................................................................................................599
17.16 Glossary of Gearing Terms.............................................................................................599
References.....................................................................................................................................601
Problems .......................................................................................................................................602
Chapter 18 Introduction to Multibody Dynamics..............................................................605
18.1 Introduction.......................................................................................................................605
18.2 Connection Configuration: Lower Body Arrays.........................................................605
18.3 A Pair of Typical Adjoining Bodies: Transformation Matrices.................................609
18.4 Transformation Matrix Derivatives...............................................................................612
18.5 Euler Parameters ..............................................................................................................613
18.6 Rotation Dyadics..............................................................................................................617
18.7 Transformation Matrices, Angular Velocity Components,
and Euler Parameters ......................................................................................................623
18.8 Degrees of Freedom, Coordinates, and Generalized Speeds....................................628
18.9 Transformations between Absolute and Relative Coordinates ................................632
18.10 Angular Velocity...............................................................................................................635
18.11 Angular Acceleration.......................................................................................................640
18.12 Joint and Mass Center Positions....................................................................................643
18.13 Mass Center Velocities.....................................................................................................645
18.14 Mass Center Accelerations..............................................................................................647
18.15 Kinetics: Applied (Active) Forces..................................................................................647
18.16 Kinetics: Inertia (Passive) Forces ...................................................................................648
18.17 Multibody Dynamics.......................................................................................................650
18.18 Closure ...............................................................................................................................651
References.....................................................................................................................................651
Problems .......................................................................................................................................652
Chapter 19 Introduction to Robot Dynamics ......................................................................661
19.1 Introduction.......................................................................................................................661
19.2 Geometry, Configuration, and Degrees of Freedom ..................................................661
19.3 Transformation Matrices and Configuration Graphs.................................................663
