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1 1 Chapter -, -,
2 11 ( ) -,,,, 3 ( ) (synthesis) (, ),,,,,,,,,,,,
3 12,,,,,,, (animation) Working Model TM,, Mathcad TM,,,,,
4 (ANGLE, ARCTAN 2 ),,,, (BASIC, FORTRAN, C++), Lotus TM Excel TM RAM HDD (presentation) (font),,,,,,
5 , (quick-reference),??, 11 4 Working Model TM O 1 B, BFGCDE, CO 3 O 1 O 3 B C 11
6 B C D, E, F, G (coupler curves), G 8,, 13, - - (mks) (SI ) - m/s 2 J N m N kg m/s 2 m kg N s 2 /m kg m 2 W J/s N m/s Pa N/m 2 N m (N m/rad) m/s in/s 2 lb in lb lbf in lb s 2 /in lb s 2 in hp psi lb/in 2 lb in (lb in/rad) in/s
7 SI 0, 1000, 1/100 (,, ) (10 ) (10 6, 10 3, 10 3, 10 6 ) , mm, (, 90 mm/s 11 km/s 009 m/s 1100 m/s ) SI ( ),, (, km/h,, kw h ) (lb), (kg) (N) (N m) 1 N m 1 (J)
8 14,, ( ),, 1/1000,
9 1, ( ) ( ) 3, 3 12,,, ( ),,,,, ( 12) Waldron(1972)6 Hook Bendix-Weiss ( ), ( ) 13
10 12 ( ) - ( ) ( ) ( ) ( )
11 13 ( ),, ( : Joy Manufacturing Company)
12 , ( ) - -,,, (compliant tooling system) (sensing system) (feedback system) (internal state sensors), (external state sensors),, (force transducer), (grasp pattern) ( jointed-arm form) 15 15a 4 15b 2,
13 14 ( : Cincinnati Milacron) 15 : (a)
14 15 (b) 15 (c)
15 15c 3 (work envelope),,,,,,, 16 ABCD, EFGH, (straightedge) A, B, C, D, E, F, G, H (, ), (3D) 14, 16 ( : PMC Industrials, Inc) 2,
16 , 2, (inversion) ( ) (mobility), ( ) 1 1 5, 2 4, (6 15 f i ), f i ( ) n L (0 ),
17 (11) n c n J, f i (12) (11) (13) 12 ( R, S ), 17a RSSR, 14 RRRRRR 6-R , 5 1 (11) (13) 17a RSSR, 17a 4 2, , 3 (11), RSSR 6(4 1) ,, 2 1 1, RSSR 2 (4 )
18 (d) 17 (a) RSSR (2 ), (b) RRRR, (c) RRRC, R R R R RRRC (d)
19 RSUR, 17b RRRR 5, DF 6(4 1) RRRC, c RRRC DF 6(4 1) d, RRRR RRRC (indeterminate) RRRR 4, RRRR 4, 1 3, RRRC,,, 13 RRRC,,, - RRRR
20 - 3 (,, ) -, ( ) 2 n L n J 1 f i n J, (14) (15) 18a 4 n L 4, n J 4, DF 1, 18b 5 n L 5, n J 5, DF 2 18d B n L 6, n J 7, DF 1 18e - O 1, 1, 2, C, 3 (in-line), C O fC O 3 C 4 3, 4 - C -, - (14) n L 4, n J 4 DF 3(4 1) 2(4) 1 4
21 18 (a) 4, (b) 5, (c), (d) 1 6, (e) -, (f) - 4
22 ( - ) 1 18c O 1, B, C, E 2 D 3 n J 12, n L 9, DF 0 n J 1 n J 2, DF planar 3(n L 1) 2n J n J (16) 2 ( 2 ) 19, S 1, S 2, P 1, P 2, C 6,, 5 S 1 P 1, P 1 P 2, P 2 S 2 3 (16) DF planar 3(6 1) , 2, 2 19
23 4, Gru bler 2n J 3n L 4 0 (17) 1 n L n J, n L n L 2 n J 1, 2 4 n J 4, 18a e a, b 2 18d : (a) Watt, (b) Stephenson
24 ,, 111 (a) 0 2 in 0 6 in ( : Ingersoll-Rand Company)
25 , 111a,, 0 111b,, 111 (b), 4 O 4 E O 4 E,
26 a 111 b (a), (O 4 ) 4 111b (1 ) (b) , - RRRC 3,,,, RRCC, (misalignment) RRSC - ( ) 2,
27 , Grashof ( ) L max, L min, L a L b, 4, ( ) ( 1) ( 2, ) 112b 112c, (18) 2, L 1 L 2, L min, L max L min L a L b (19) L max L min, L a L b L 1
28 112 (a) -, (b) ( ) -, (c) ( ) - - L 0 40 mm; 10 mm; L 2 30 mm; 32 mm, L 1 L 3
29 (, ) (19),, ( ) L 0 20 mm; 30 mm; L 2 30 mm; 32 mm, (19) L 1 L 3
30 ( 114 ) 1(, ) 3(, ), L 0 20 mm; 27 mm; L 2 7 mm; 32 mm, a L 1 L 3 114
31 , 1 B 3 115b c, (change-point) (crossover-position) (110) 116, L 0 L max, L 1 L min, (110) ( ),,,, 115 (a) 1
32 115 (b) (c) 3
33 116 b 1 3, 3, 3, (bow-tie),,, (111) Grashof, 1883 ( ) (polycentric) Grashof 4 2 L max L min L a L b,
34 117 Grashof 4 L 0, L 1, L 2, L 3 L mm, L mm, L mm L 0 a Grashof (Grashof mechanism) b (crank rocker mechanism) c (drag link mechanism) d - (double-rocker mechanism)
35 e (change-point mechanism) f - (triple-rocker mechanism) Grashof, Grashof,,,, (b) L mm L 0 L max L min L a L b L L mm 0 L , 200 mm 200 mm L mm (b ) L 0 (c) 0, L mm Grashof L (c ) (d) L 2 (d ) (e) L 0 L 0, L L L , 0(4 ) L L 0 200, L mm (e) L 0 b, c, d, e Grashof 200 mm L mm (a) (f) L 0 L 0, L L 0, 300 L L 0 L L 0, L L 0 3, L L 0 600, 0 L mm 400 mm L mm (f ), ( )
36 (dead point) 112b c ( ) ( 2) ( 3), , 118 1,, 1, 2 3 3, O 3, , L d 0 1, 118
37 119, (112) 2, 3 (113) (114), L 1 L 0, min L d(min) L 0 L 1 max L d(max) : L mm, L mm, L mm L 0, 200 mm L mm : min 45,
38 , max ( ) 120a b L max L , min 5969 ( ) ( 180 ) mm L , 3(max) , 3(min) 1865, (a), (b)
39 , , R L (a) -, 15 Grashof ( - Grashof )
40 121 (b) R 0 L 0 /L Grashof Grashof 121a 121b 121b 121c 121c ,
41 121 (c) Mathcad TM, : : : : : : R D : R 0 1
42 : : R 2 R 3 [, c(2,2) 2125 ] : :, : : : :,, mm, 300 mm ( 15 ) ,, R 2 L 2 /L R 3, (R 3 ) 30 ( ), e(r 3 ) f (R 3 )
43 R , L mm L mm ,, 90 - : (mm) L 1 : 50 L 0 : 300 : R 2 : 47 : : : ( ): : : : : : ( ): ( ):
44 -, , ( ) 17a RSSR ( 2 ) (jam) 18 - ( ) 0, -,, 0 - (, ) - (slidercrank mechanism) 2, 2 ( ) 122a
45 (dead-center position), (crank dead center: 122a, ), (head dead center: 122a, ) (wrist pin) C O 1 ( 122a ), (in-line slider-crank mechanism) (piston travel) (stroke) 2R, 180, 180, 122 (a) -, (b) -, (c) -
46 - (offset slider-crank mechanism) (wrist pin) ( 122b ) 0, , 122b 122b 122c R, L, (L R) E, / 122c ( ), 2R : E L R R L, S 122c
47 (analytical solution), 19 (quick-return mechanism) ( ),,, -, (drag) O 1 BCO 3 D 1 3 O 1 O
48 , 3 (115) 3 : 1 a b 180 mm c? 123 R 0 L 0 /L 1 08, R 3 L 3 /L 1 14 R 2 L 2 /L 1 L 0, L 1, L 2, L 3,,, a Grashof, L max L 0 L b, L 2 L 0 L 1 L 3 L a R 2 R 0 1 R 3 16, R 2 12 R 2, 12 R 2 16 Grashof 3 : 1 /2 rad 90, (O 1 B) 124a 124b R 2 ( ) a, b C a, b (cosine) Grashof R 2 R b 2 L 3 90 mm, L 1 L 3 /R 3, L mm
49 (a) (b) (c) (d) 124, 17 : (a), (b), (c), (d) c 124c 124d (82 )
50 , : R 0 : 08, R 3 : 14 Grashof ( ): : T wr : 3 1 (rad): rad R 2 : R 2 : (mm): (mm): (mm): (mm): (mm): : :
51 , ( B 3 C) 3 : D (tool holder) in 2 126b 2 1
52 126 (a), (b) ( 1 2 ) S 1 (c) 1, O 1 O 2 4 in, 3 (D O 2 O 1 ),
53 2 3 3 in, O 1 D 35 in S min 3 in, 126c 1 ( 1 B) (adjusting screw) ( 1) ( 2) 2,, 360, 127, ( 2) 4 (lamination-type impulse drive: ) 4
54 ( ) (eccentrics) 111,, (packaged drive train)
55 16 AB CD, AD BC A B DC DC tucking under 128 ( ) , (pantograph), 129 AC, CD, DE, EB BC DE BE CD BE CD, F A D ABF, ACD 129a DA/DF F, A 128
56 129 (a) D F, DA/DF (b) F DA/DF A F DF/DA, A, F, D
57 , 129b F D A AF/DF 6 in 6 in b 9 in 9 in, D CB DE 12 in, CD BE 10 in 1/15 AB/CB 1/15, AB 8 in A, F, D, BF/CD AB/AC BF 4 in A A BE F D, F, A - 130,,
58 130 : 46,000 68,000 Btu/h ( : Tecumseh Products Company)
59 131 -,, ( : Curtiss-Wright Corporation) -, (multicylinder) (rotating combustion engine: Wankel )
60 (a) 3 ;
61 3 2 ( ),,, 3 133b ( ),, 3 2, 3,,, 133 (b) 1/3, ( : Curtiss-Wright Corporation)
62 133b 1 1, ( ) 1 15 : 1 3 ( ) 8 8, (fluid links) 134 (backhoe) 134 ( : Caterpillar)
63 135 (a), (b) a ; 2 (c) a ; 2 B 1 1 B 2 2, 135a 135b c, 136 (swash plate), 136
64 (plunger), d tan d 100%, Q ANd tan A, N,,, (inversion) 137,,, ( : Sperry Rand Corporation)
65 138 2,, ( : Sperry Rand Corporation) , (volume control),, 2, ( 138) 2,,,
66 139, ( : Fairchild Industrial Products Division) 2 (production line function), (linear actuator) 141 (lamination-type impulse drive)
67 140 ( : Duff-Norton Company) (one-way),, 141b O 3 O 3, 5 O 3,
68 141 (a) : : : ( : Zero-Max Ind Inc, a unit of Barry Wright), 5, 2000 rpm, 0 1/4,
69 141 (b) O 3 O 3, (c) (d) ( ), 141c d 1, 2, 3 (O 1 O 3 ) , (O 3 O 5 ) 4, 142,
70 Manual adjustment Water turbine First worm gearset Second worm gearset Sprinkler bar D C 0 3 Water turbine B 0 1 (a) (b) 142 : (a), (b) - 142a (worm) 4 O 1 B ( 142b ) BC CO 3 DC 4 DC (O 3 C ) DC O 1 BCO 3 - (,, ) 111
71 ,,,, ( ),,, ( ),, (split) (split nut), (differential screw) 143 L 1 L 2 v n L 1 L 2, in 11, in rpm,,, (teeth)
72 , 4 in 2 mi (waveguide) 1 mm 10% (preload) - 140, -, (overrunning) - - (ball-detent)
73 144 :,, 140 -, (sprag) - ( 145 ) 145, (control member) A, (outer race) (inner race) A ( B ), A, B
74 De-energizing spring Sprags Outer race Control member Inner race (a) Outer race (fixed) Control member (input) Inner race (output) 145 (a) - ( ) ( ) ( : Dana Corporation, Formsprag Division) (b), A ( ),,,,
75 146 ( ) - 1, 3 3 ( 4) 3 (5), (ratchet and pawl) ( ) (, ) 3 (,, ) ( ), r 1 3, N 360 /N 3, in 0002
76 ( ) 1 - L in L/N in 5 100, 0002 in/cycle 2 ( 146 ) 147, in 0010 in/cycle 1/20 (18 ) 0024 in/ cycle 432 3, , 1 04 in 12 in 1 12 in in in 1, 04 in 2
77 ,,, 2,,, (misalignment), A v A 1 r, ; steering-columntilting 18 ( : Bendix Corporation)
78 149 (a) - 2/ 1 (b) b cos, , 150 /2, 1, 3 2,, 151 b - r A
79 (a) 150 (a) ( : Dana Corporation) (b) 2, 151 (a) (Bendix-Weiss ) ( : Dana Corporation)
80 151 (b) A /2 B Ackerman 152 (Pitman arm) O 1 B, BE, EO 2, CF DG FO 3 GO 4 O 1 (knuckle) O 3 O 4, Ackerman ( ) C, D, F, G,
81 152 : O 1 B (O 1 ) Pitman : BE : EO 2 : CF DG : FO 3 GO ,,, abort utility, (welding gun), 153 (drilling) (routing) (positive-location) (part fixture) (compliant tooling system)
82 153 ( : General Dynamics) 112 Sheth Uicker(1972) ( 154 ) (human interaction)
83 154, (CAD) CAD 3,,,, (concurrent engineering), 155 (suspension) CAD CAD 4 - ( ) CAD,,,
84 155 ( : Chevrolet Motor Division, General Motors Corporation), 1 0 (kinematically determinate) 0 -, 156 (momentum wheel) 157 IMP(Integrated Mechanism Program)
85 156 ( A D A M S T M ) ( : Mechanical Dynamics Inc) (spring-reset plow) (simulation) DRAM CAD (front-end loader) 159,
86 157 IMP ; IC ; DF ; FGC ( : Structural Dynamics Research Corporation) Finger Dixon(1989),,,, ;, ;
87 158 DRAM - ( : Mechanical Dynamics, Inc) 159 ( : Mechanical Dynamics, Inc)
88 113 (closed-form solution), (trial and error),, Newton-Raphson Newton-Raphson Newton 160 F(x) x [ F(x) x ] x X, F(X) 0 F(X) G(X) 160 Newton-Raphson
89 G(X) (116) df/dx, x X, X X new F(X new ) 0 F(X) G(X) 0, Newton-Raphson F(X) 0, 161 Newton-Raphson, ,,,, Newton-Raphson R,, x E/R, Newton-Raphson 10 6 x 19, x , , , f (x) 0 ( 10 6 ) ,
90 161 Newton-Raphson
91 , x 2 x 2 G(x) no root is found after the specified maximum unmber of iterations 20 x 2 Newton-Raphson df(x)/dx secant (difference quotient) 2 X 1 X 2 F(x) 0 ( ) X 1 X 2, X 2 X new F(x) 0 X new 20 30, secant MathCAD TM F(x) 0 X 2 X 1, 114,,,
92 ,,,, 4 (window regulator) 8000 (500 ),, -, -, -, 170 mm, 40, 4 : 1 1 Grübler
93 4, 3, O , 1,, O 1 C O 1 3 (solid modeling) (assembly modeling) I-DEAS TM 162 3
94 1, 6 Grashof 4, 1? ( )? Grashof? 100 mm -, 2 -?? 111 (a) P11,, (b) P12 2 ( 1 2, 6 7),
95 P11, 2, 3 8 (c) P12 (d) P12, P12
96 112 (a) 17c 1 ( ) (b) 17b ( ) 2 in, 3000 rpm ( ) 2 in 4 in 1 in 3000 rpm in mm, 200 mm, 50 mm R L, E - L/R 15, E/R 02 T 1 0, 20, mm (ccw) 5000 rpm L/R 18, E/R R 50 mm, 50 rad/s (a) 0 40, (b) 0 180, (c) R 2, L 4 - (a) 30, 60, 90 x 100 rpm, (b) 30 60, (c) L 0 5, L 1 2, L 2 15, L L 0 1, L 1 2, L 2 15, L L 0 1, L 1 325, L 2 15, L 3 35
97 115 L 0 15, L 1 4, L 2 2, L L 0 1, L 1 4, L 2 15, L L 0 2, L 1 125, L 2 2, L L 0 4, L 1 1, L 2 2, L L 0 3, L 1 2, L 2 3, L L 0 25, L 1 1, L 2 25, L L 0 5, L 1 10, L 2 15, L L 0 16, L 1 7, L 2 10, L a, L mm, L mm, L mm (L 2 ) 124 L mm, L mm, L mm L L 0 40, L 2 60, L 3 40 L L 0 50, L 1 200, L 3 250L L 0 120, L 1 220, L 2 80L L 2 /L 1 15, L 3 /L 1 12 L 0 /L L 0 /L 1 22, L 3 /L 1 17 L 2 /L L 1 400, L 2 600, L L a L 0 /L 1 2 L 3 /L 1 L 2 /L L 0 /L ( ) L mm, L mm, L mm; L L 1 50 mm, L mm, L mm; L L mm, L mm, L mm; L L 2 /L 1 15, L 3 /L 1 12; L 0 /L L 0 /L 1 32, L 3 /L 1 17; L 2 /L 1
98 140 L 0 /L 1 2 L 3 /L 1 L 2 /L L 0 /L mm, 0; mm, 100 mm; mm, 200 mm; mm, 50 mm; 146 R/L 05, 147 R/L 025, L 0 18, L 1 7, L 2 9, L (a) (b) (c) (a)? ? d 1 50 mm, d 2 d 3 d mm % % (a) 600 rpm 120 ft 3 /h (100% ) (b) ( )
99 rad/s 001 m 3 /s rad/s 01 mm/s rpm in/s in/cycle 0001 in/cycle mm/cycle 100 mm/cycle rpm % 167 3% in 2 : : mm 2 : mm 2 : in 15 : : mm mm P13 ( ) 1 ( ) 177 P O 1 B 60 mm, BC 120 mm (O 1 ) 20 mm R 2, L 5, E 04 (a)
100 P13 P14 (b) S 180 E E R 1, L 3, E R 150 mm, L 450 mm, E 150 mm L mm, L 1 50 mm, L mm, L L mm, L 1 50 mm, L mm, L L mm, L 1 45 mm, L mm, L L mm, L 1 50 mm, L mm, L (a) 185 (b) 1190 (a) 186 (b) 1191 (a) 187 (b) 1192 (a) 188 (b) min min min min 45 L 2 45 L 2 45 L 2 45 L 2
101 mm, 350 mm, 100 mm rad/s(cw) a, S a, R CCCC? SSSS? ,,, , (a) Newton-Raphson (b) (a) Newton-Raphson (b) Newton-Raphson , L 0 L 1 3 R 2 R 3 R 2 L 2 /L 1, R 3 L 3 /L 1, L 2, L 3 R 2 R 3 R 2 R , L 0 L 1 4 R 2 R 3 R 2 L 2 /L 1, R 3 L 3 /L 1, L 2, L 3 R 2 R 3
102 , L 0 L 1 5 R 2 R 3 R 2 L 2 /L 1, R 3 L 3 /L 1, L 2, L 3 R 2 R : mm, R 0 L 0 /L 1 07, R 3 L 3 /L 1 135, R 2 L 2 /L 1 L 0, L 1, L 2, L 3,,, : mm, R 0 L 0 /L 1 085, R 3 L 3 /L 1 115, R 2 L 2 /L 1 L 0, L 1, L 2, L 3,,, : mm R 0 L 0 /L 1 085, R 3 L 3 /L 1 125, R 2 L 2 /L 1 L 0, L 1, L 2, L 3,,, 11 (a) (b), 12
103 , T-,, (back-country) (telemark) - (free-heel) (a) (release) (b) :, (quality)
104 ,,
105
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์ 9 ๋๋ 6์ ์ดํญ๋ชฉ์ ์ธํ ๋ชฉํ์ ๋ณด๊ธฐ๊ฐ ํ์๋ ๋ ์ด๋ ์ฑ ํธ(radar chart). ์ 10 ๋๋ ์ 6 ๋์ ํจ์๋ธ๋ญ(1C)์์ ์ฌ์ฉ๋๋ ๊ฐ์ข ๊ฐ์ฑํ ํจ์์ ๋ณด๊ธฐ๋ฅผ ํ์ํ๋ ํ ์ด๋ธ. ์ 11a ๋ ์ 11c ๋๊น์ง๋ ๊ฐ์ข ์กฐ๊ฑด์ ๋ฐ๋ผ ์ ๊ณต๋๋ ๊ฐ์ฑํํจ์์ ๋ณํ์
(19) ๋ํ๋ฏผ๊ตญํนํ์ฒญ(KR) (12) ํนํ๊ณต๋ณด(B1) (51) Int. Cl. 5 B66B 1/18 (45) ๊ณต๊ณ ์ผ์ 1993๋
09์28์ผ (11) ๊ณต๊ณ ๋ฒํธ ํน1993-0009339 (21) ์ถ์๋ฒํธ ํน1989-0002580 (65) ๊ณต๊ฐ๋ฒํธ ํน1989-0014358 (22) ์ถ์์ผ์ 1989๋
03์02์ผ (43) ๊ณต๊ฐ์ผ์ 1989๋
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Motor Base ์ค๋น์ํ๊ฐ์์๋ฆฌ๋ฐ ์์ฉ ๋ชจ๋ธ : MCM / PCM Version : 1.0-20070425 ๊ธฐ๊ณ์ ๊ฒฐํจ + ์ ๊ธฐ์ ๊ฒฐํจ + ์๋์ง ์๋ชจ๋ ํ ๋ฒ์ 3๋ง๋ฆฌ์ ํ ๋ผ๋ฅผ ์ก๋๋ค! www.reliability.co.kr ์ ํ: (031) 726-1672 ํฉ์ค: (031) 726-1376 ํํ์ด์ง : www.reliability.co.kr 463-805