MECHANISMS AND MECHANICAL DEVICES SOURCEBOOK …

1 MECHANISMS AND MECHANICAL DEVICES SOURCEBOOK Fifth Edition NEIL SCLATER McGraw-Hill New York Chicago San Francisco Lisbon London Madrid Mexico City Milan New Delhi San Juan Seoul Singapore Sydney Toronto PREFACE XI CHAPTER 1 BASICS OF MECHANISMS Introduction Physical Principles Efficiency of Machines MECHANICAL Advantage Velocity Ratio Inclined Plane Pulley Systems Screw-Type Jack Levers and MECHANISMS Levers Winches, Windlasses, and Capstans Linkages Simple Planar Linkages Specialized Linkages Straight-Line Generators Rotary/Linear Linkages Specialized MECHANISMS Gears and Gearing Simple Gear Trains Compound Gear Trains Gear Classification Practical Gear Configurations Gear Tooth Geometry Gear Terminology Gear Dynamics Terminology Pulleys and Belts Sprockets and Chains Cam MECHANISMS Classification of Cam MECHANISMS Cam Terminology Clutch MECHANISMS Externally Controlled Friction Clutches Externally Controlled Positive Clutches Internally Controlled Clutches Glossary of Common MECHANICAL Terms 2 2 2 2 3 3 3 4 4 4 5 5 5 6 7 8 9 10 11 11 11 12 13 13 13 14 14 14 15 17 17 17 17 18 18

2 CHAPTER 2 MOTION CONTROL SYSTEMS 21 Motion Control Systems Overview Glossary of Motion Control Terms MECHANICAL Components Form Specialized Motion-Control Systems Servomotors, Stepper Motors, and Actuators for Motion Control Servosystem Feedback Sensors Solenoids and Their Applications 22 28 29 30 38 45 iii CHAPTER 3 STATIONARY AND MOBILE ROBOTS 49 Introduction to Robots 50 The Robot Defined 50 Stationary Autonomous Industrial Robots

3 50 Some Robot History 51 The Worldwide Robot Market 51 Industrial Robots 51 Industrial Robot Advantages 52 Industrial Robot Characteristics 53 Industrial Robot Geometry 53

4 Four Different ABB Industrial Robots 56 IRB 2400 57 IRB 6400RF 57 IRB 6640 57 IRB 7600 57 Autonomous and Semiautonomous Mobile Robots 58 Options for Communication and Control

5 58 Land-based Mobile Robots Can Scout and Retrieve 58 Submersible Mobile Robots Can Search and Explore 58 Robotic Aircraft (Drones) Can Search and Destroy 58 Planetary Exploration Robots Can Examine and Report 59 Laboratory/Scientific Robots Can Mimic Human Behavior 59 Commercial Robots Can Deliver and Retrieve Goods 59 Consumer Robots Clean Floors and Mow Lawns 59

6 Some Robots Entertain or Educate 59 Seven Mobile Autonomous and Semiautonomous Robots 60 Two Robots Have Explored Mars for Six Years 60 This Robot Will Carry on the Work of Spirit and Opportunity 61 This Robot Responds to Civil Emergencies 62 Robot Delivers Hospital Supplies 62 A Military Remotely-Piloted Aircraft Can Observe and Attack the Enemy 63 Submarine Robot Searches for Underwater Mines and Obstructions 64 This System Offers Less Intrusive Surgery and Faster Recovery

7 65 Glossary of Robotic Terms 66 Modified Four-Limbed Robot Is a Better Climber 68 Six-Legged Robot Crawls on Mesh in Lunar Gravity 69 Two Robots Anchor Another Traversing Steep Slopes 70 Six-Legged Robot Can Be Steered While Hopping 71 CHAPTER 4 MECHANISMS FOR RENEWABLE POWER GENERATION 73 Overview of Renewable Energy Sources 74 Nuclear.

8 The Unlikely Prime Renewable 74 Alternative Renewable Energy Sources 75 Baseload and Baseload Demand Power Plants 75 Windmills: Early Renewable Power Sources 75 Wind Turbines: Descendents of Windmills 76 Where Are Wind Turbines Located?

9 77 Concentrating Solar Thermal (CST) Systems 78 Parabolic Trough Mirror Solar Thermal (CST) Plants 78 Power-Tower Solar Thermal (CST) Plants 79 Linear Fresnel Reflector Thermal (CST) Plants 80