1 Chapter -, -,
11 ( ) -,,,, 3 ( ) (synthesis) (, ),,,,,,,,,,,,
12,,,,,,, (animation) Working Model TM,, Mathcad TM,,,,,
(ANGLE, ARCTAN 2 ),,,, (BASIC, FORTRAN, C++), Lotus 1-2-3 TM Excel TM RAM HDD (presentation) (font),,,,,,
, (quick-reference),??, 11 4 Working Model TM O 1 B, BFGCDE, CO 3 O 1 O 3 B C 11
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
SI 0, 1000, 1/100 (,, ) (10 ) (10 6, 10 3, 10 3, 10 6 ) 01 1000, 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)
14,, ( ),, 1/1000,
1, ( ) ( ) 3, 3 12,,, ( ),,,,, ( 12) Waldron(1972)6 Hook Bendix-Weiss ( ), ( ) 13
12 ( ) - ( ) ( ) ( ) ( )
13 ( ),, ( : Joy Manufacturing Company)
, ( ) - -,,, (compliant tooling system) (sensing system) (feedback system) (internal state sensors), (external state sensors),, (force transducer), (grasp pattern) 14 6 - ( jointed-arm form) 15 15a 4 15b 2,
14 ( : Cincinnati Milacron) 15 : (a)
15 (b) 15 (c)
15c 3 (work envelope),,,,,,, 16 ABCD, EFGH, (straightedge) A, B, C, D, E, F, G, H (, ), (3D) 14, 16 ( : PMC Industrials, Inc) 2,
, 2, (inversion) ( ) 4 2 2 1 1 1 (mobility), 1 1 6 3 1 ( ) 1 1 5, 2 4, (6 15 f i ), f i ( ) n L (0 ),
(11) n c n J, f i (12) (11) (13) 12 ( R, S ), 17a RSSR, 14 RRRRRR 6-R 14 7 6, 5 1 (11) (13) 17a RSSR, 17a 4 2, 2 5 1 3, 3 (11), RSSR 6(4 1) 5 3 3 5 2,, 2 1 1, RSSR 2 (4 )
(d) 17 (a) RSSR (2 ), (b) RRRR, (c) RRRC, R R R R RRRC (d)
RSUR, 17b RRRR 5, DF 6(4 1) 5 5 5 5 2 RRRC, 2 4 17c RRRC DF 6(4 1) 5 5 5 4 1 17d, RRRR RRRC (indeterminate) RRRR 4, RRRR 4, 1 3, RRRC,,, 13 RRRC,,, - RRRR 4 4 18
- 3 (,, ) -, 3 0 2 ( ) 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 1 4 4 18fC O 3 C 4 3, 4 - C -, - (14) n L 4, n J 4 DF 3(4 1) 2(4) 1 4
18 (a) 4, (b) 5, (c), (d) 1 6, (e) -, (f) - 4
( - ) 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 5 3 2 2, 2, 2 19
4, 1 1 1 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 4-6 1 7 1 110a, b 2 18d 6 110 2 8 110 1 6 : (a) Watt, (b) Stephenson
,, 111 (a) 0 2 in 0 6 in ( : Ingersoll-Rand Company)
, 111a,, 0 111b,, 111 (b), 4 O 4 E O 4 E,
a 111 b (a), (O 4 ) 4 111b 6 6 7 (1 ) (b) 3 9 8 3 11 1 2 1, - RRRC 3,,,, RRCC, (misalignment) RRSC - ( ) 2,
16 4 4 3 360, Grashof ( ) L max, L min, L a L b, 4, ( ) 112 3 ( 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
112 (a) -, (b) ( ) -, (c) ( ) - - L 0 40 mm; 10 mm; L 2 30 mm; 32 mm, - 40 10 30 32 L 1 L 3
113 113 3(, ) (19),, ( ) L 0 20 mm; 30 mm; L 2 30 mm; 32 mm, (19) 32 20 30 30 L 1 L 3
( 114 ) 1(, ) 3(, ), L 0 20 mm; 27 mm; L 2 7 mm; 32 mm, 32 7 27 20 115a L 1 L 3 114
, 1 B 3 115b c, (change-point) (crossover-position) (110) 116, L 0 L max, L 1 L min, (110) ( ),,,, 115 (a) 1
115 (b) 3 115 (c) 3
116 b 1 3, 3, 3, (bow-tie),,, (111) Grashof, 1883 ( ) (polycentric) Grashof 4 2 L max L min L a L b, 360 117
117 Grashof 4 L 0, L 1, L 2, L 3 L 1 100 mm, L 2 200 mm, L 3 300 mm L 0 a Grashof (Grashof mechanism) b (crank rocker mechanism) c (drag link mechanism) d - (double-rocker mechanism)
e (change-point mechanism) f - (triple-rocker mechanism) Grashof, Grashof,,,, (b) L 1 100 mm L 0 L max L min L a L b L 0 100 200 300 0 L 0 400 mm 0 L 0 200 100 300, 200 mm 200 mm L 0 400 mm (b ) L 0 (c) 0, L 0 100 mm Grashof L 0 300 100 200 0 (c ) (d) L 2 (d ) (e) L 0 L 0, L 0 400 L 0 300 L 0 100 200, 0(4 ) L 0 300 100 L 0 200, L 0 200 200 400 mm (e) L 0 b, c, d, e Grashof 200 mm L 0 400 mm (a) (f) L 0 L 0, L 0 100 200 300 L 0, 300 L 0 200 100 L 0 L 0 400 0 L 0, 300 100 L 0 200 200 L 0 3, L 0 100 200 300 L 0 600, 0 L 0 200 mm 400 mm L 0 600 mm (f ), ( )
(dead point) 112b c 17 4 118 1( ) ( 2) ( 3), 90 40 45 135 140, 118 1,, 1, 2 3 3, O 3, 119 4 1, L d 0 1, 118
119, (112) 2, 3 (113) (114), L 1 L 0, min L d(min) L 0 L 1 max L d(max) : L 1 100 mm, L 2 200 mm, L 3 300 mm L 0, 200 mm L 0 400 mm : 45 135 min 45,
, max 10954 ( ) 120a b L 0 36352 max 31248 L 0 36352 135, min 5969 ( ) ( 180 ) 31248 mm L 0 1 2 1 2, 3(max) 5861 1 2, 3(min) 1865, 3996 120 (a), (b)
, - 30-6 40 140, R L 1 121 (a) -, 15 Grashof ( - Grashof )
121 (b) R 0 L 0 /L 1 6 - Grashof Grashof 121a 121b 121b 121c 121c 30 40 140,
121 (c) Mathcad TM, : : : : : : R D : R 0 1
: : R 2 R 3 [, c(2,2) 2125 ] : :, : : : :,, 90 - - 30 50 mm, 300 mm ( 15 ) 70 110,, 70 110 R 2 L 2 /L 1 47 30 R 3, (R 3 ) 30 ( ), e(r 3 ) f (R 3 )
R 3 3864, L 3 1932 mm L 2 235 mm 707 1093 0 180 90,, 90 - : (mm) L 1 : 50 L 0 : 300 : R 2 : 47 : : : ( ): : : : : : ( ): ( ):
-, - 4 360, ( ) 17a RSSR 1 2 3 ( 2 ) 40 140 (jam) 18 - ( ) 0, -,, 0 - (, ) - (slidercrank mechanism) 2, 2 ( ) 122a
(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) -
- (offset slider-crank mechanism) (wrist pin) ( 122b ) 0, 180 180, 122b 122b 122c R, L, (L R) E, / 122c ( ), 2R : E L R R L, S 122c
(analytical solution), 19 (quick-return mechanism) ( ),,, -, (drag) 123 4 O 1 BCO 3 D 1 3 O 1 O 3 4 123
, 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 2 1374 b 2 L 3 90 mm, L 1 L 3 /R 3, L 4 120 mm
(a) (b) (c) (d) 124, 17 : (a), (b), (c), (d) c 124c 124d (82 )
, : R 0 : 08, R 3 : 14 Grashof ( ): : T wr : 3 1 (rad): rad R 2 : R 2 : (mm): (mm): (mm): (mm): (mm): : :
125 3 1 2 3 125 3, ( B 3 C) 3 : 1 126 1 D (tool holder) 1 2 1 3 8 in 2 126b 2 1
126 (a), (b) ( 1 2 ) S 1 (c) 1, O 1 O 2 4 in, 3 (D O 2 O 1 ),
2 3 3 in, O 1 D 35 in S min 3 in, 126c 1 ( 1 B) (adjusting screw) 2 110 112 ( 1) ( 2) 2,, 360, 127, ( 2) 4 (lamination-type impulse drive: ) 4
127 4 4 ( ) (eccentrics) 111,, (packaged drive train)
16 AB CD, AD BC A B DC DC tucking under 128 ( ) 1 1 2 2, 3 3 4 4 (pantograph), 129 AC, CD, DE, EB BC DE BE CD BE CD, F A D ABF, ACD 129a DA/DF F, A 128
129 (a) D F, DA/DF (b) F DA/DF A F DF/DA, A, F, D
, 129b F D A AF/DF 6 in 6 in 15 129b 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,,
130 : 46,000 68,000 Btu/h ( : Tecumseh Products Company)
131 -,, ( : Curtiss-Wright Corporation) -, (multicylinder) 131 132 1 133 (rotating combustion engine: Wankel )
132 1 133 (a) 3 ;
3 2 ( ),,, 3 133b ( ),, 3 2, 3,,, 133 (b) 1/3, ( : Curtiss-Wright Corporation)
133b 1 1, ( ) 1 15 : 1 3 ( ) 8 8, (fluid links) 134 (backhoe) 134 ( : Caterpillar)
135 (a), (b) a ; 2 (c) a ; 2 B 1 1 B 2 2, 135a 135b c, 136 (swash plate), 136
(plunger), d tan d 100%, Q ANd tan A, N,,, (inversion) 137,,, 9 15 30 ( : Sperry Rand Corporation)
138 2,, ( : Sperry Rand Corporation) 136 137, (volume control),, 2, ( 138) 2,,,
139, ( : Fairchild Industrial Products Division) 2 (production line function), 139 4 140 (linear actuator) 141 (lamination-type impulse drive)
140 ( : Duff-Norton Company) (one-way),, 141b O 3 O 3, 5 O 3,
141 (a) : : : ( : Zero-Max Ind Inc, a unit of Barry Wright), 5, 2000 rpm, 0 1/4,
141 (b) O 3 O 3, (c) (d) ( ), 141c d 1, 2, 3 (O 1 O 3 ) 1 4 3 4 5, (O 3 O 5 ) 4, 142,
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
,,,, ( ),,, ( ),, (split) (split nut), (differential screw) 143 L 1 L 2 v n L 1 L 2, in 11, in 10 10 rpm,,, (teeth)
143 144, 4 in 2 mi (waveguide) 1 mm 10% (preload) - 140, -, (overrunning) - - (ball-detent)
144 :,, 140 -, (sprag) - ( 145 ) 145, (control member) A, (outer race) (inner race) A ( B ), A, B
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 ( ),,,,
146 ( ) - 1, 3 3 ( 4) 3 (5), (ratchet and pawl) - - 146-3 1( ) (, ) 3 (,, ) ( ), r 1 3, N 360 /N 3, 0010 0024 in 0002
( ) 1 - L in L/N in 5 100, 0002 in/cycle 2 ( 146 ) 147, 1 0200 in 0010 in/cycle 1/20 (18 ) 0024 in/ cycle 432 3, 3 1 432 1 18, 1 04 in 12 in 1 12 in 3 1 1 04 in 2 147 3 12 in 1, 04 in 2
,,, 2,,, (misalignment), 148-1 0 2 149 A v A 1 r, 2 148 ; steering-columntilting 18 ( : Bendix Corporation)
149 (a) - 2/ 1 (b) 90 149b 90 2 2 1 cos, 150 2 -, 150 /2, 1, 3 2,, 151 b - r A
(a) 150 (a) ( : Dana Corporation) (b) 2, 151 (a) (Bendix-Weiss ) ( : Dana Corporation)
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,
152 : O 1 B (O 1 ) Pitman : BE : EO 2 : CF DG : FO 3 GO 4 14 6,,, abort utility, (welding gun), 153 (drilling) (routing) (positive-location) (part fixture) (compliant tooling system)
153 ( : General Dynamics) 112 Sheth Uicker(1972) ( 154 ) (human interaction)
154, (CAD) CAD 3,,,, (concurrent engineering), 155 (suspension) CAD CAD 4 - ( ) CAD,,,
155 ( : Chevrolet Motor Division, General Motors Corporation), 1 0 (kinematically determinate) 0 -, 156 (momentum wheel) 157 IMP(Integrated Mechanism Program)
156 ( A D A M S T M ) ( : Mechanical Dynamics Inc) 158 - (spring-reset plow) (simulation) DRAM CAD (front-end loader) 159,
157 IMP ; IC ; DF ; FGC ( : Structural Dynamics Research Corporation) Finger Dixon(1989),,,, ;, ;
158 DRAM - ( : Mechanical Dynamics, Inc) 159 ( : Mechanical Dynamics, Inc)
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
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, 3-27 2,,,, Newton-Raphson R,, x E/R, Newton-Raphson 10 6 x 19, x 1821906, 1800705, 1799787, f (x) 0 ( 10 6 ) 1799786,
161 Newton-Raphson
, 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,,,
,,,, 4 (window regulator) 8000 (500 ),, -, -, -, 170 mm, 40, 4 : 1 1 Grübler
4, 3, 6 162 O 1 4 5 -, 1,, O 1 C O 1 3 (solid modeling) (assembly modeling) I-DEAS TM 162 3
1, 6 Grashof 4, 1? ( )? Grashof? 100 mm -, 2 -?? 111 (a) P11,, (b) P12 2 ( 1 2, 6 7),
P11, 2, 3 8 (c) P12 (d) P12, P12
112 (a) 17c 1 ( ) (b) 17b 2 1 113 - ( ) 2 in, 3000 rpm 114 - ( ) 2 in 4 in 1 in 3000 rpm 115 15 in 14 116 100 mm, 200 mm, 50 mm 14 117 R L, E - L/R 15, E/R 02 T 1 0, 20, 40 18 4 118 17 100 mm (ccw) 5000 rpm 0 0002 119 L/R 18, E/R 04 17 110 19 R 50 mm, 50 rad/s (a) 0 40, (b) 0 180, (c) 0 360 111 R 2, L 4 - (a) 30, 60, 90 x 100 rpm, (b) 30 60, (c) 60 90 112 L 0 5, L 1 2, L 2 15, L 3 2 113 L 0 1, L 1 2, L 2 15, L 3 35 114 L 0 1, L 1 325, L 2 15, L 3 35
115 L 0 15, L 1 4, L 2 2, L 3 35 116 L 0 1, L 1 4, L 2 15, L 3 45 117 L 0 2, L 1 125, L 2 2, L 3 3 118 L 0 4, L 1 1, L 2 2, L 3 15 119 L 0 3, L 1 2, L 2 3, L 3 2 120 L 0 25, L 1 1, L 2 25, L 3 2 121 L 0 5, L 1 10, L 2 15, L 3 15 122 L 0 16, L 1 7, L 2 10, L 3 15 123 112a, L 0 300 mm, L 1 100 mm, L 3 280 mm (L 2 ) 124 L 1 100 mm, L 2 280 mm, L 3 360 mm L 0 125 L 0 40, L 2 60, L 3 40 L 1 126 L 0 50, L 1 200, L 3 250L 2 127 L 0 120, L 1 220, L 2 80L 3 128 L 2 /L 1 15, L 3 /L 1 12 L 0 /L 1 129 L 0 /L 1 22, L 3 /L 1 17 L 2 /L 1 130 L 1 400, L 2 600, L 3 750 L 0 131 112a L 0 /L 1 2 L 3 /L 1 L 2 /L 1 132 L 0 /L 1 15 131 133 ( ) 4 134 4 135 L 1 100 mm, L 2 140 mm, L 0 120 mm; L 3 136 L 1 50 mm, L 2 200 mm, L 0 210 mm; L 3 137 L 1 110 mm, L 2 150 mm, L 0 150 mm; L 3 138 L 2 /L 1 15, L 3 /L 1 12; L 0 /L 1 139 L 0 /L 1 32, L 3 /L 1 17; L 2 /L 1
140 L 0 /L 1 2 L 3 /L 1 L 2 /L 1 141 L 0 /L 1 4 140 142 100 mm, 0; 143 500 mm, 100 mm; 144 400 mm, 200 mm; 145 300 mm, 50 mm; 146 R/L 05, 147 R/L 025, 146 148 149 148 150 4 151-152 L 0 18, L 1 7, L 2 9, L 3 17 119 120 (a) (b) (c) (a)? 153-154 124? d 1 50 mm, d 2 d 3 d 4 100 mm 155 156 10% 157 40% 158 136 (a) 600 rpm 120 ft 3 /h (100% ) (b) ( )
159 300 rad/s 001 m 3 /s 158 160 65 rad/s 01 mm/s 161 60 rpm 00005 in/s 162 0005 0012 in/cycle 0001 in/cycle - 163 1 3 mm/cycle 100 mm/cycle - 164 20 1000 rpm 165 15 164 166 2% 167 3% 166 168 10 in 2 : 1 169 25 : 1 168 170 150 mm 2 : 1 171 100 mm 2 : 1 172 5 10 in 15 : 1 173 25 : 1 172 174 100 200 mm 172 175 180 280 mm 172 176 P13 ( ) 1 ( ) 177 P14 176 178 O 1 B 60 mm, BC 120 mm (O 1 ) 20 mm 177 179 R 2, L 5, E 04 (a)
P13 P14 (b) S 180 E 08 179 181 E 065 179 182 R 1, L 3, E 1 183 R 150 mm, L 450 mm, E 150 mm 184 141 1185 L 0 200 mm, L 1 50 mm, L 3 150 mm, L 2 1186 L 0 210 mm, L 1 50 mm, L 3 150 mm, L 2 1187 L 0 200 mm, L 1 45 mm, L 3 150 mm, L 2 1188 L 0 200 mm, L 1 50 mm, L 3 160 mm, L 2 1189 (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
1193 150 mm, 350 mm, 100 mm - 240 rad/s(cw) 1194 17a, S 1 1195 17a, R 1 1196 4 CCCC? 1197 4 SSSS? 1198 1 5 4,,, 1199 1, 8 1100 3 - (a) Newton-Raphson (b) 25 1101 3 - (a) Newton-Raphson (b) 22 1102 3-3 Newton-Raphson 1103 4 -, 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 3 1104 4 -, 40 140 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
1105 4 -, 40 140 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 3 1106 5 : 2 100 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,,, 1107 8 : 3 400 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,,, 1108 16 : 5 400 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
, T-,, 13 14 - (back-country) (telemark) - (free-heel) (a) (release) (b) 15 16 :, (quality)
,, 200 180