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DESIGN OF MACHINERY
AN INTRODUCTION TO THE SYNTHESIS AND
ANALYSIS OF MECHANISMS
AND MACHINES
Fifth Edition

Robert L. Norton
Worcester Polytechnic Institute
Worcester, Massachusetts

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CONTENTS
Preface to the Fifth Edition

xvii

Preface to the First Edition

xix

PART I KINEMATICS OF MECHANISMS

Chapter 1 Introduction

1.0
1.1
1.2
1.3
1.4
1.5

1.6
1.7
1.8
1.9
1.10
1.11
1.12
1.13

1.14
1.15

Purpose
'..:'
Kinematics a n d Kinetics
Mechanisms a n d Machines
A Brief History of Kinematics
Applications of Kinematics
The Design Process
Design, Invention, Creativity
Identification of Need
Background Research
Goal Statement
Performance Specifications
Ideation and Invention
Analysis
Selection
Detailed Design
Prototyping and Testing
Production
Other Approaches to Design
Axiomatic Design
Multiple Solutions
Human Factors Engineering
The Engineering Report
Units
A Design Case Study
Educating for Creativity in Engineering
What's to C o m e
Resources with This Text
Programs
Videos
References
Bibliography

3
3
4
5
6
7
7
8
9
10
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12
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20
25
25
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27

Chapter 2 Kinematics Fundamentals

2.0
2.1
2.2
2.3
2.4
2.5

2.6
2.7
2.8
2.9

Introduction
Degrees of Freedom (DOF) or Mobility
Types of Motion
Links, Joints, a n d Kinematic Chains
Drawing Kinematic Diagrams
Determining Degree of Freedom or Mobility
Degree of Freedom (Mobility) in Planar Mechanisms
Degree of Freedom (Mobility) in Spatial Mechanisms
Mechanisms and Structures
Number Synthesis
Paradoxes
Isomers

30
30
30
31
32
36
37
38
40
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47

DESIGN OF MACHINERY

2.10
2.11
2.12
2.13
2.14

2.15
2.16
2.17
2.18

2.19

2.20
2.21

Linkage Transformation
Intermittent Motion
Inversion
The Grashof Condition
Classification of the Fourbar Linkage
Linkages of More Than Four Bars
Geared Fivebar Linkages
Sixbar Linkages
Grashof-Type Rotatability Criteria for Higher-Order Linkages
Springs as Links
Compliant Mechanisms
Micro Electro-Mechanical Systems (MEMS)
Practical Considerations
Pin Joints versus Sliders and Half Joints
Cantilever or Straddle Mount?
Short Links
Bearing Ratio
Commercial Slides
Linkages versus Cams
Motorsand Drivers
Electric Motors
Air and Hydraulic Motors
Air and Hydraulic Cylinders
Solenoids
References
Problems

CONTENTS

48
53
53
55
60
62
62
63
63
65
65
67
69
69
71
72
72
73
73
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'

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79
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80
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81

Chapter 3 Graphical Linkage Synthesis

3.0
3.1
3.2
3.3
3.4

3.5

3.6
3.7

3.8
3.9

3.10

3.11
3.12
3.13
3.14

Introduction
Synthesis
Function, Path, a n d Motion Generation
Limiting Conditions
Dimensional Synthesis
Two-Position Synthesis
Three-Position Synthesis with Specified Moving Pivots
Three-Position Synthesis with Alternate Moving Pivots
Three-Position Synthesis with Specified Fixed Pivots
Position Synthesis for More Than Three Positions
Quick-Return Mechanisms
Fourbar Quick-Return
Sixbar Quick-Return
Coupler Curves
Cognates
Parallel Motion
Geared Fivebar Cognates of the Fourbar
Straight-Line Mechanisms
Designing Optimum Straight-Line Fourbar Linkages
Dwell Mechanisms
Single-Dwell Linkages
Double-Dwell Linkages
Other Useful Linkages
Constant Velocity Piston Motion
Large Angular Excursion Rocker Motion
Remote Center Circular Motion
References
Bibliography
Problems
Projects

96
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/17
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CONTENTS

Chapter 4 Position Analysis

4.0
4.1
4.2

4.3

AA
4.5

4.6
4.7
4.8
4.9

4.10
4.11
4.12
4.13
4.14

4.15
4.16

Introduction
Coordinate Systems
Position a n d Displacement
Position
Coordinate Transformation
Displacement
Translation, Rotation, a n d Complex Motion
Translation
Rotation
Complex Motion
Theorems
Graphical Position Analysis of Linkages
Algebraic Position Analysis of Linkages
Vector Loop Representation of Linkages
Complex Numbers as Vectors
The Vector Loop Equation for a Fourbar Linkage
The Fourbar Crank-Slider Position Solution
The Fourbar Slider-Crank Position Solution
An Inverted Crank-Slider Position Solution
Linkages of More Than Four Bars
The Geared Fivebar Linkage
Sixbar Linkages
Position of Any Point on a Linkage
Transmission Angles
Extreme Values of the Transmission Angle
Toggle Positions
Circuits a n d Branches in Linkages
Newton-Raphson Solution Method
One-Dimensional Root-Finding (Newton's Method)
Multidimensional Root-Finding (Newton-Raphson Method)
Newton-Raphson Solutipn for the Fourbar Linkage
Equation Solvers
References
Problems

174
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176
176
176
177
177
179
179
179
180
181
181
183
184
184
185
192
194
197
199
200
203
203
204
206
207
208
210
210
212
213
213
214
214

Chapter 5 Analytical Linkage Synthesis

5.0
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
5.12
5.13
5.14

5.15
5.16

Introduction
Types of Kinematic Synthesis
Two-Position Synthesis for Rocker Output
Precision Points
Two-Position Motion Generation by Analytical Synthesis
Comparison of Analytical a n d Graphical Two-Position Synthesis
Simultaneous Equation Solution
Three-Position Motion Generation by Analytical Synthesis
Comparison of Analytical a n d Graphical Three-Position Synthesis
Synthesis for a Specified Fixed Pivot Location
Center-Point a n d Circle-Point Circles
Four-and Five-Position Analytical Synthesis
Analytical Synthesis of a Path Generator with Prescribed Timing
Analytical Synthesis of a Fourbar Function Generator
Other Linkage Synthesis Methods
Precision Point Methods
Coupler Curve Equation Methods
Optimization Methods
References
Problems

228
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231
231
238
240
242
247
252
258
260
261
262
264
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DESIGN OF MACHINERY

CONTENTS

Chapter 6 Velocity Analysis

6.0
6.1
6.2
6.3
6.4

6.5

6.6
6.7

6.8
6.9
6.10
6.11

285

Introduction
Definition of Velocity
Graphical Velocity Analysis
Instant Centers of Velocity
Velocity Analysis with Instant Centers
Angular Velocity Ratio
Mechanical Advantage
Using Instant Centers in Linkage Design
Centrodes
A "Linkless" Linkage
Cusps
Velocity of Slip
Analytical Solutions for Velocity Analysis
The Fourbar Pin-Jointed Linkage
The Fourbar Crank-Slider
The Fourbar Slider-Crank
The Fourbar Inverted Crank-Slider
Velocity Analysis of the Geared Fivebar Linkage
Velocity of Any Point on a Linkage
References
Problems

285
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288
292
299
301
303
305
307
308
310
311
315
375
318
321
322
324
325
327
327

Chapter 7 Acceleration Analysis...

7.0
7.1
7.2
7.3

7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11

Introduction
Definition of Acceleration
Graphical Acceleration Analysis
Analytical Solutions for Acceleration Analysis
The Fourbar Pin-Jointed Linkage
The Fourbar Crank-Slider
The Fourbar Slider-Crank
Coriolis Acceleration
The Fourbar Inverted Crank-Slider
Acceleration Analysis of the Geared Fivebar Linkage
Acceleration of Any Point on a Linkage
Human Tolerance of Acceleration
Jerk
Linkages of N Bars
Reference
Problems
Virtual Laboratory

350
.7

350
350
353
358
358
362
364
366
368
371
.....372
374
376
379
379
379
400

Chapter 8 Cam Design

8.0
8.1

8.2
8.3

Introduction
C a m Terminology
Type of Follower Motion
Type of Joint Closure
Type of Follower
Type of Cam
Type of Motion Constraints
Type of Motion Program
SVAJ Diagrams
Double-Dwell C a m DesignChoosing S I M J Functions
The Fundamental Law of Cam Design
Simple Harmonic Motion (SHM)
Cycloidal Displacement
Combined Functions

401
401
402
402
404
405
405
406
407
408
409
412
413
414
417

CONTENTS

8.4

8.5
8.6

8.7

8.8
8.9
8.10
8.11

The SCCA Family of Double-Dwell Functions

Polynomial Functions
Double-Dwell Applications of Polynomials
Single-Dwell C a m DesignChoosing S V A J Functions
Single-Dwell Applications of Polynomials
Effect of Asymmetry on the Rise-Fall Polynomial Solution
Critical Path Motion (CPM)
Polynomials Used for Critical Path Motion
Sizing the CamPressure Angle a n d Radius of Curvature
Pressure AngleTranslating Roller Followers
Choosing a Prime Circle Radius
Overturning MomentTranslating Flat-Faced Follower
Radius of CurvatureTranslating Roller Follower
Radius of CurvatureTranslating Flat-Faced Follower
Practical Design Considerations
Translating or Oscillating Follower?
Force- or Form-Closed?
Radial or Axial Cam?
Roller or Flat-Faced Follower?
To Dwell or Not to Dwell?
To Grind or Not to Grind?
To Lubricate or Not to Lubricate?
References...
Problems
Virtual Laboratory
Projects

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431
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437
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443
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452
453
456
457
458
462
467
467
467
468
468
469
469
470
470
471
476
476

Chapter 9 Gear Trains

9.0
9.1
9.2

9.3
9.4
9.5
9.6

9.7
9.8

9.9

9.10
9.11
9.12
9.13

Introduction
,
Rolling Cylinders
The Fundamental Law of Gearing
The Involute Tooth Form
Pressure Angle
Changing Center Distance
Backlash
Gear Tooth Nomenclature
Interference and Undercutting
Unequal-Addendum Tooth Forms
Contact Ratio
Gear Types
Spur, Helical, and Herringbone Gears
Worms and Worm Gears
Rack and Pinion
Bevel and Hypoid Gears
Noncircular Gears
Belt and Chain Drives
Simple Gear Trains
C o m p o u n d Gear Trains
Design of Compound Trains
Design of Reverted Compound Trains
An Algorithm for the Design of Compound Gear Trains
Epicyclic or Planetary Gear Trains
The Tabular Method
The Formula Method
Efficiency of Gear Trains
Transmissions
Differentials
References

482
482
483
484
485
487
487
489
489
492
492
494
497
497
498
499
499
500
501
503
504
505
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509
513
575
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525
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531

DESIGN OF MACHINERY

9.14
9.15

PART II

CONTENTS

Bibliography
Problems

532
532

DYNAMICS OF MACHINERY

543

Chapter 10 Dynamics Fundamentals

10.0
10.1
10.2
10.3
10.4
10.5
10.6
10.7

10.8
10.9
10.10
10.11

10.12

10.13
10.14
10.15
10.16
10.17

545

Introduction
Newton's Laws of Motion
Dynamic Models
Mass
Mass Moment a n d Center of Gravity
Mass Moment of Inertia (Second Moment of Mass)
Parallel Axis Theorem (Transfer Theorem)
Determining Mass Moment of Inertia
Analytical Methods
Experimental Methods
Radius of Gyration
Modeling Rotating Links
Center of Percussion
Lumped Parameter Dynamic Models
Spring Constant
Damping
Equivalent Systems
Combining Dampers
Combining Springs
Combining Masses
Lever and Gear Ratios
Solution Methods
The Principle of d'Alembert
Energy MethodsVirtual Work
References
Problems

545
545
546
546
547
549
551
551
551
552
553
554
554
556
557
558
559
561
561
562
562
568
569
571
573
573

Chapter 11 Dynamic Force Analysis

11.0
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.9
11.10
11.11
11.12
11.13
11.14
11.15
11.16
11.17

Introduction
Newtonian Solution Method
Single Link in Pure Rotation
Force Analysis of a Threebar Crank-Slide Linkage
Force Analysis of a Fourbar Linkage
Force Analysis of a Fourbar Slider-Crank Linkage
Force Analysis of the Inverted Crank-Slider
Force AnalysisLinkages with More Than Four Bars
Shaking Force a n d Shaking Moment
Program Linkages
Linkage Torque Analysis by an Energy Method
Controlling Input TorqueFlywheels
A Linkage Force Transmission Index
Practical Considerations
Reference
Problems
Virtual Laboratory
Projects

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580
583
589
595
597
600
601
602
602
605
611
612
614
614
627
627

CONTENTS

Chapter 12 Balancing
12.0
12.1
12.2
12.3
12.4
12.5
12.6
12.7
12.8
12.9
12.10

Introduction
Static Balance
Dynamic Balance
Balancing Linkages
Complete Force Balance of Linkages
Effect of Balancing on Shaking a n d Pin Forces
Effect of Balancing on Input Torque
Balancing the Shaking Moment in Linkages
Measuring a n d Correcting Imbalance
References
Problems
Virtual Laboratory

630
630
631
634
639
639
643
644
645
649
651
652
659

Chapter 13 Engine Dynamics

13.0
13.1
13.2
13.3
13.4
13.5
13.6
13.7
13.8
13.9
13.10
13.11

13.12
13.13
13.14

Introduction
Engine Design
Slider-Crank Kinematics
Gas Force a n d Gas Torque
Equivalent Masses
Inertia a n d Shaking Forces
Inertia and Shaking Torques
Total Engine Torque
Flywheels
Pin Forces in the Single-Cylinder Engine
Balancing the Single-Cylinder Engine
Effect of Crankshaft Balancing on Pin Forces
Design Trade-offs and Ratios
Conrod/Crank Ratio
Bore/Stroke Ratio
Materials
Bibliography
Problems
Projects

660
660
662
667
673
675
679
682
683
684
685
693
697
697
698
698
699
699
699
704

Chapter 14 Multicylinder Engines

14.0
14.1
14.2
14.3
14.4
14.5
14.6

14.7
14.8
14.9

14.10
14.11
14.12
14.13

Introduction
Multicylinder Engine Designs
The Crank Phase Diagram
Shaking Forces in Inline Engines
Inertia Torque in Inline Engines
Shaking Moment in Inline Engines
Even Firing
Two-Stroke Cycle Engine
Four-Stroke Cycle Engine
Vee Engine Configurations
Opposed Engine Configurations
Balancing Multicylinder Engines
Secondary Harmonic Balancing of the Four-Cylinder Inline Engine
A Perfectly Balanced Two-Cylinder Engine
References
Bibliography
Problems
Projects

705
705
707
710
711
715
716
718
719
721
727
739
739
743
746
747
747
748
749

DESIGN OF MACHINERY

CONTENTS

Chapter 15 Cam Dynamics

15.0
15.1

15.2
15.3
15.4
15.5
15.6
15.7
15.8
15.9
15.10
15.11

Introduction
Dynamic Force Analysis of the Force-Closed Cam-Follower
Undamped Response
Damped Response
Resonance
Kinetostatic Force Analysis of the Force-Closed Cam-Follower
Kinetostatic Force Analysis of the Form-Closed Cam-Follower
Kinetostatic Camshaft Torque
Measuring Dynamic Forces and Accelerations
Practical Considerations
References
Bibliography
Problems
Virtual Laboratory

751
751
752
752
755
760
763
768
771
773
777
777
778
778
782

Chapter 16 Cam- and Servo-Driven Mechanisms

16.0
16.1
16.2
16.3
16.4
16.5
16.6

16.7
16.8
16.9

Introduction
Servomotors
Servo Motion Control
Servo Motion Functions
Cam-Driven Linkages
Servo-Driven Linkages
Other Linkages
Cam-Driven Versus Servo-Driven Mechanisms
Flexibility
Cost
Reliability
Complexity
Robustness
Packaging
Load Capacity
References
Bibliography
Problems

783
783
784
785
755
786
794
800
800
800
801
801
801
801
802
802
803
803
803

Appendices
A Computer Programs
Material Properties
Geometric Properties
D Spring Data
E Coupler Curve Atlases
F Answers to Selected Problems
G Equations for Under- or Overbalanced Multicylinder Engines

805
807
811
813
817
819
835

Index

839

DVD Catalog

855