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Theory of Machines and Mechanisms

Fifth Edition

John J. Uicker, Jr., Gordon R. Pennock, and Joseph E. Shigley

07 December 2017

ISBN: 9780190264505

976 pages

In Stock

Price: £67.99



  • Offers balanced coverage of all topics by both graphic and analytic methods
  • Covers all major analytic approaches
  • Provides high-accuracy graphical solutions to exercises, by use of CAD software

About the Author(s)

John J. Uicker, Jr., University of Wisconsin, Gordon R. Pennock, Purdue University, and Joseph E. Shigley, The University of Michigan

John J. Uicker, Jr. is Professor Emeritus of Mechanical Engineering at the University of Wisconsin-Madison.

Gordon R. Pennock is Associate Professor of Mechanical Engineering at Purdue University.

The late Joseph E. Shigley was Professor Emeritus of Engineering at The University of Michigan.

Table of Contents

    About the Authors
    1. The World of Mechanisms
    1.1 Introduction
    1.2 Analysis and Synthesis
    1.3 Science of Mechanics
    1.4 Terminology, Definitions, and Assumptions
    1.5 Planar, Spheric, and Spatial Mechanisms
    1.6 Mobility
    1.7 Characteristics of Mechanisms
    1.8 Kinematic Inversion
    1.9 Grashof's Law
    1.10 Mechanical Advantage
    1.11 References
    1.12 Problems
    2. Position, Posture, and Displacement
    2.1 Locus of a Moving Point
    2.2 Position of a Point
    2.3 Position Difference Between Two Points
    2.4 Apparent Position of a Point
    2.5 Absolute Position of a Point
    2.6 Posture of a Rigid Body
    2.7 Loop-Closure Equations
    2.8 Graphic Posture Analysis
    2.9 Algebraic Posture Analysis
    2.10 Complex-Algebra Solutions of Planar Vector Equations
    2.11 Complex Polar Algebra
    2.12 Posture Analysis Techniques
    2.13 Coupler-Curve Generation
    2.14 Displacement of a Moving Point
    2.15 Displacement Difference Between Two Points
    2.16 Translation and Rotation
    2.17 Apparent Displacement
    2.18 Absolute Displacement
    2.19 Apparent Angular Displacement
    2.20 References
    2.21 Problems
    3. Velocity
    3.1 Definition of Velocity
    3.2 Rotation of a Rigid Body
    3.3 Velocity Difference Between Points of a Rigid Body
    3.4 Velocity Polygons; Velocity Images
    3.5 Apparent Velocity of a Point in a Moving Coordinate System
    3.6 Apparent-Angular Velocity
    3.7 Direct Contact and Rolling Contact
    3.8 Systematic Strategy for Velocity Analysis
    3.9 Algebraic Velocity Analysis
    3.10 Complex-Algebraic Velocity Analysis
    3.11 Method of Kinematic Coefficients
    3.12 Instantaneous Centers of Velocity
    3.13 Aronhold-Kennedy Theorem of Three Centers
    3.14 Locating Instantaneous Centers of Velocity
    3.15 Velocity Analysis Using Instant Centers
    3.16 Angular-Velocity-Ratio Theorem
    3.17 Relationships Between First-Order Kinematic Coefficients and Instant Centers
    3.18 Freudenstein's Theorem
    3.19 Indices of Merit; Mechanical Advantage
    3.20 Centrodes
    3.21 References
    3.22 Problems
    4. Acceleration
    4.1 Definition of Acceleration
    4.2 Angular Acceleration
    4.3 Acceleration Difference Between Points of a Rigid Body
    4.4 Acceleration Images
    4.5 Apparent Acceleration of a Point in a Moving Coordinate System
    4.6 Apparent-Angular Acceleration
    4.7 Direct Contact and Rolling Contact
    4.8 Systematic Strategy for Acceleration Analysis
    4.9 Algebraic Acceleration Analysis
    4.10 Complex-Algebraic Acceleration Analysis
    4.11 Method of Kinematic Coefficients
    4.12 Euler-Savary Equation
    4.13 Bobillier Constructions
    4.14 Instantaneous Center of Acceleration
    4.15 Bresse Circle (or de La Hire Circle)
    4.16 Radius of Curvature of a Point Trajectory Using Kinematic Coefficients
    4.17 Cubic of Stationary Curvature
    4.18 References
    4.19 Problems
    5. Multi-Degree-of-Freedom Planar Linkages
    5.1 Introduction
    5.2 Posture Analysis; Algebraic Solution
    5.3 Velocity Analysis; Velocity Polygons
    5.4 Instantaneous Centers of Velocity
    5.5 First-Order Kinematic Coefficients
    5.6 Method of Superposition
    5.7 Acceleration Analysis; Acceleration Polygons
    5.8 Second-Order Kinematic Coefficients
    5.9 Path Curvature of a Coupler Point Trajectory
    5.10 Finite Difference Method
    5.11 References
    5.12 Problems
    6. Cam Design
    6.1 Introduction
    6.2 Classification of Cams and Followers
    6.3 Displacement Diagrams
    6.4 Graphic Layout of Cam Profiles
    6.5 Kinematic Coefficients of Follower
    6.6 High-Speed Cams
    6.7 Standard Cam Motions
    6.8 Matching Derivatives of Displacement Diagrams
    6.9 Plate Cam with Reciprocating Flat-Face Follower
    6.10 Plate Cam with Reciprocating Roller Follower
    6.11 Rigid and Elastic Cam Systems
    6.12 Dynamics of an Eccentric Cam
    6.13 Effect of Sliding Friction
    6.14 Dynamics of Disk Cam with Reciprocating Roller Follower
    6.15 Dynamics of Elastic Cam Systems
    6.16 Unbalance, Spring Surge, and Windup
    6.17 References
    6.18 Problems
    7. Spur Gears
    7.1 Terminology and Definitions
    7.2 Fundamental Law of Toothed Gearing
    7.3 Involute Properties
    7.4 Interchangeable Gears; AGMA Standards
    7.5 Fundamentals of Gear-Tooth Action
    7.6 Manufacture of Gear Teeth
    7.7 Interference and Undercutting
    7.8 Contact Ratio
    7.9 Varying Center Distance
    7.10 Involutometry
    7.11 Nonstandard Gear Teeth
    7.12 Parallel-Axis Gear Trains
    7.13 Determining Tooth Numbers
    7.14 Epicyclic Gear Trains
    7.15 Analysis of Epicyclic Gear Trains by Formula
    7.16 Tabular Analysis of Epicyclic Gear Trains
    7.17 References
    7.18 Problems
    8. Helical Gears, Bevel Gears, Worms, and Worm Gears
    8.1 Parallel-Axis Helical Gears
    8.2 Helical Gear Tooth Relations
    8.3 Helical Gear Tooth Proportions
    8.4 Contact of Helical Gear Teeth
    8.5 Replacing Spur Gears with Helical Gears
    8.6 Herringbone Gears
    8.7 Crossed-Axis Helical Gears
    8.8 Straight-Tooth Bevel Gears
    8.9 Tooth Proportions for Bevel Gears
    8.10 Bevel Gear Epicyclic Trains
    8.11 Crown and Face Gears
    8.12 Spiral Bevel Gears
    8.13 Hypoid Gears
    8.14 Worms and Worm Gears
    8.15 Summers and Differentials
    8.16 All-Wheel Drive Train
    8.17 Note
    8.18 Problems
    9. Synthesis of Linkages
    9.1 Type, Number, and Dimensional Synthesis
    9.2 Function Generation, Path Generation, and Body Guidance
    9.3 Two Finitely Separated Postures of a Rigid Body (N = 2)
    9.4 Three Finitely Separated Postures of a Rigid Body (N = 3)
    9.5 Four Finitely Separated Postures of a Rigid Body (N = 4)
    9.6 Five Finitely Separated Postures of a Rigid Body (N =5)
    9.7 Precision Postures; Structural Error; Chebychev Spacing
    9.8 Overlay Method
    9.9 Coupler-Curve Synthesis
    9.10 Cognate Linkages; Roberts-Chebychev Theorem
    9.11 Freudenstein's Equation
    9.12 Analytic Synthesis Using Complex Algebra
    9.13 Synthesis of Dwell Mechanisms
    9.14 Intermittent Rotary Motion
    9.15 References
    9.16 Problems
    10. Spatial Mechanisms and Robotics
    10.1 Introduction
    10.2 Exceptions to the Mobility Criterion
    10.3 Spatial Posture-Analysis Problem
    10.4 Spatial Velocity and Acceleration Analyses
    10.5 Euler Angles
    10.6 Denavit-Hartenberg Parameters
    10.7 Transformation-Matrix Posture Analysis
    10.8 Matrix Velocity and Acceleration Analyses
    10.9 Generalized Mechanism Analysis Computer Programs
    10.10 Introduction to Robotics
    10.11 Topological Arrangements of Robotic Arms
    10.12 Forward Kinematics Problem
    10.13 Inverse Kinematics Problem
    10.14 Inverse Velocity and Acceleration Analyses
    10.15 Robot Actuator Force Analysis
    10.16 References
    10.17 Problems
    11. Static Force Analysis
    11.1 Introduction
    11.2 Newton's Laws
    11.3 Systems of Units
    11.4 Applied and Constraint Forces
    11.5 Free-Body Diagrams
    11.6 Conditions for Equilibrium
    11.7 Two- and Three-Force Members
    11.8 Four- and More-Force Members
    11.9 Friction-Force Models
    11.10 Force Analysis with Friction
    11.11 Spur- and Helical-Gear Force Analysis
    11.12 Straight-Tooth-Bevel-Gear Force Analysis
    11.13 Method of Virtual Work
    11.14 Introduction to Buckling
    11.15 Euler Column Formula
    11.16 Critical Unit Load
    11.17 Critical Unit Load and Slenderness Ratio
    11.18 Johnson's Parabolic Equation
    11.19 References
    11.20 Problems
    12. Dynamic Force Analysis
    12.1 Introduction
    12.2 Centroid and Center of Mass
    12.3 Mass Moments and Products of Inertia
    12.4 Inertia Forces and d'Alembert's Principle
    12.5 Principle of Superposition
    12.6 Planar Rotation about a Fixed Center
    12.7 Shaking Forces and Moments
    12.8 Complex Algebra Approach
    12.9 Equation of Motion From Power Equation
    12.10 Measuring Mass Moments of Inertia
    12.11 Transformation of Inertia Axes
    12.12 Euler's Equations of Motion
    12.13 Impulse and Momentum
    12.14 Angular Impulse and Angular Momentum
    12.15 References
    12.16 Problems
    13. Vibration Analysis
    13.1 Differential Equations of Motion
    13.2 A Vertical Model
    13.3 Solution of the Differential Equation
    13.4 Step Input Forcing
    13.5 Phase-Plane Representation
    13.6 Phase-Plane Analysis
    13.7 Transient Disturbances
    13.8 Free Vibration with Viscous Damping
    13.9 Damping Obtained by Experiment
    13.10 Phase-Plane Representation of Damped Vibration
    13.11 Response to Periodic Forcing
    13.12 Harmonic Forcing
    13.13 Forcing Caused by Unbalance
    13.14 Relative Motion
    13.15 Isolation
    13.16 Rayleigh's Method
    13.17 First and Second Critical Speeds of a Shaft
    13.18 Torsional Systems
    13.19 References
    13.20 Problems
    14. Dynamics of Reciprocating Engines
    14.1 Engine Types
    14.2 Indicator Diagrams
    14.3 Dynamic Analysis-General
    14.4 Gas Forces
    14.5 Equivalent Masses
    14.6 Inertia Forces
    14.7 Bearing Loads in a Single-Cylinder Engine
    14.8 Shaking Forces of Engines
    14.9 Computation Hints
    14.10 Problems
    15. Balancing
    15.1 Static Unbalance
    15.2 Equations of Motion
    15.3 Static Balancing Machines
    15.4 Dynamic Unbalance
    15.5 Analysis of Unbalance
    15.6 Dynamic Balancing
    15.7 Dynamic Balancing Machines
    15.8 Field Balancing with a Programmable Calculator
    15.9 Balancing a Single-Cylinder Engine
    15.10 Balancing Multi-Cylinder Engines
    15.11 Analytic Technique for Balancing Multi-Cylinder Engines
    15.12 Balancing of Linkages
    15.13 Balancing of Machines
    15.14 References
    15.15 Problems
    16. Flywheels, Governors, and Gyroscopes
    16.1 Dynamic Theory of Flywheels
    16.2 Integration Technique
    16.3 Multi-Cylinder Engine Torque Summation
    16.4 Classification of Governors
    16.5 Centrifugal Governors
    16.6 Inertia Governors
    16.7 Mechanical Control Systems
    16.8 Standard Input Functions
    16.9 Solution of Linear Differential Equations
    16.10 Analysis of Proportional-Error Feedback Systems
    16.11 Introduction to Gyroscopes
    16.12 Motion of a Gyroscope
    16.13 Steady or Regular Precession
    16.14 Forced Precession
    16.15 References
    16.16 Problems
    Appendix A: Tables
    Table 1 Standard SI Prefixes
    Table 2 Conversion from US Customary Units to SI Units
    Table 3 Conversion from SI Units to US Customary Units
    Table 4 Areas and Area Moments of Inertia
    Table 5 Mass and Mass Moments of Inertia
    Table 6 Involute Function
    Appendix B: Answers to Selected Problems


"Theory of Machines and Mechanisms, Fifth Edition, provides a sound and rigorous presentation of analysis theory in a manner that is accessible to students." - Pierre Larochelle, Florida Institute of Technology

"The text's greatest strength is how readable it is. Complex concepts are communicated very well in a concise manner." - John Layer, University of Evansville