Chapter 1 Introduction 绪论双语教材bilingual textbook机械原理theory of machine and mechanisms机械学mechanology机构学mechanism机械设计及理论machine design and theory of machine机械machinery机器machine机构mechanism内燃机internal-combustion engine活塞piston曲轴crankshaft构件link, member零件part, element螺母nut螺栓bolt垫片washer轴承bearing轴瓦bearing, bush连杆coupler, connecting rod机械设计的步骤mechanical design procedure微型机械（微米级）micromachine小型机械minimachine机器组成constitution of machine机械运动学kinematics of machinery机械动力学dynamics of machinery过程process机械设计machine design国际机械原理联合会international federation for theory of machines and mechanisms单缸四冲程内燃机one-cylinder four-stroke cycle combustion engine吸气行程intake stroke压缩行程compression stroke压力行程power stroke排气行程exhaust strokeChapter 2 Structural Analysis of Planar Mechanisms 平面机构的结构分析机构组成constitution of mechanism机构分析structure analysis原动机prime machine, prime power原动件driving link, input link从动件driven link, output link机架frame, fixed link连架杆link connected with frame, side link相对运动relative motion接触contact运动副kinematical pair运动副的分类classification of kinematical pairs低副lower pair高副higher pair转动副turning pair, revolute pair移动副sliding pair, prismatic pair滚滑高副sliding-turning pair二副杆binary link三副杆ternary link平面机构plane mechanism空间机构spatial mechanism运动链kinematical chain平面运动链plane chain空间运动链spatial chain闭链closed chain开链unclosed chain, open chain自由度degree of freedom, mobility约束constraint虚约束overconstraint redundant constraint局部自由度partial degree of freedom, passive degree of freedom,redundant degree of freedom复合铰链multiple pin joints, compound hinges机构运动简图schematic diagram of mechanism, kinematic sketch颚式破碎机jaw crusher machine长度比例尺length scale刚性构件rigid link柔性构件flexible link活动构件moving link高副低代replacement of higher pair by lower pair机构的结构分析structure analysis of mechanism杆组link groupII级杆组class II link groupIII级杆组class III link group复杂机构complex mechanism等效机构equivalent mechanism平面机构自由度计算公式Grueble criterion for degree of freedom of plane mechanism空间机构自由度计算公式Kutzback criterion for degree of freedom of spatial mechanismChapter 3 Kinematic Analysis of Planar Mechanisms 平面机构的运动分析图解法graphical method相对运动图解法graphical method of relative motion瞬心法velocity analysis by instantaneous centers解析法analytical method运动分析kinematic method线位移displacement, linear displacement线速度velocity, linear velocity线加速度acceleration, linear acceleration转角angle角位移angular displacement角速度angular velocity角加速度angular acceleration位移方程displacement equation速度方程relative velocity equation加速度方程relative acceleration equation绝对速度absolute velocity相对速度relative velocity牵连速度implicative velocity, velocity of the base point法向速度normal velocity切向速度tangential velocity哥式加速度coriolis component of acceleration, coriolis acceleration 位移分析displacement analysis速度分析velocity analysis速度影像velocity image加速度影像acceleration image加速度分析acceleration analysis重合点coincident points瞬心instant center, instantaneous center速度瞬心velocity center绝对瞬心absolute center相对瞬心relative center瞬心多边形instantaneous center polygon用运动副直接连接的两构件瞬心prime center三心定理aronhold-kennedy theorem极点pole速度比例尺velocity scale加速度比例尺acceleration scale速度多边形velocity polygon加速度多边形acceleration polygon矢量vector标量scalar大小与方向magnitude and direction直角坐标系rectangular coordinate封闭矢量环closed vector loop矩阵matrix线性代数方程linear algebraic equation线性方程组linear equations非线性方程组non-linear equations数学模型mathematical model计算机辅助设计computer aided design (CAD)计算机程序computer programChapter 4 Force Analysis of Planar Mechanisms 平面机构的力分析力分析force analysis静力分析static analysis动力分析dynamic analysis作用力applied force力矩moment驱动力driving force阻抗力resistance force重力gravity惯性力inertia force约束反力reactive force, reaction分离体free-body diagram二力构件two-force member三力构件three-force member力作用线action line of force平衡方程equation of equilibrium摩擦friction摩擦系数coefficient of friction当量摩擦系数equivalent coefficient of friction干摩擦dry friction平面摩擦friction on plane斜面摩擦friction on inclined plane矩形螺纹摩擦friction on square-threaded screw三角螺纹摩擦friction o v-threaded screw滑动摩擦sliding friction接触表面contacting surface磨损wear摩擦力friction force摩擦角friction angle当量摩擦角equivalent friction angle总反力total resultant force轴颈摩擦pin friction, friction in journal bearing摩擦圆friction circle达朗伯原理d’alember’s principle惯性力矩inertia torque, moment of inertia质心center of mass, mass center转动惯量mass moment of inertia离心力centrifugal force水平力horizontal force切向力tangential force法向力normal force自锁self-locking机械效率mechanical efficiency自锁机构self-locking mechanism输入功率input power输出功率output powerChapter 5 Synthesis of Planar Linkages 平面连杆机构及其设计运动综合精确综合近似综合型综合数综合尺度综合精度结构误差按行程速比系数综合四杆机构按连杆的对应位置综合四杆机构按连架杆的对应位置综合四杆结构按连杆曲线综合四杆机构刚体导引函数发生轨迹生成连杆机构linkage平面连杆机构plane linkage空间连杆机构spatial linkage四杆机构four-bar linkage曲柄摇杆机构crank-rocker linkage双曲柄机构double-crank linkage双摇杆机构double-rocker linkage曲柄滑块机构slider-crank linkage曲柄摇杆机构rocking-block linkage摆动导杆机构rocking guide-bar linkage转动导杆机构移动导杆机构正弦机构正切机构双滑块机构双转块机构平行四边形机构曲柄存在的条件压力角pressure angle传动角transmission angle极位夹角angle between the limiting position极限位置extreme position, limiting position行程速比系数coefficient of travel speed variation, advance to return time ratio 急回特性quick-return characteristics急回运动quick-return motion急回机构quick-return mechanism死点dead point机构演化机构变异机架变换移动定轴转动一般平面运动Chapter 6 Design of Cam Mechanisms 凸轮机构及其设计凸轮cam高速凸轮high-speed cam从动件follower滚子roller滚子半径radius of roller滚子中心center of roller平底长度length of flat-face直动从动件translating follower摆动从动件oscillating follower滚子从动件roller follower尖顶从动件knife-edge follower平底从动件flat-faced follower, flat follower曲底从动件spherical-faced follower对心直动从动件盘形凸轮机构disk cam with radial translating roller follower对心直动尖顶从动件盘形凸轮机构disk cam with radial translating knife-edge follower偏置直动从动件盘形凸轮机构disk cam with offset translating roller follower偏置直动滚子从动件盘形凸轮机构摆动滚子从动件盘形凸轮机构disk cam with offset oscillating follower摆动尖顶从动件盘形凸轮机构摆动平底从动件盘形凸轮机构摆动滚子从动件盘形凸轮机构直动滚子从动件盘形凸轮机构摆动滚子从动件圆柱凸轮机构运动规律follower motion多项式运动规律polynomial motion一阶多项式运动规律二阶多项式运动规律3-4-5次多项式运动规律等速运动规律uniform motion, straight-line motion等加速、等减速运动规律parabolic motion, constant acceleration motion 三角函数运动规律trigonometric function motion摆线运动规律cycloidal motion简谐运动规律simple harmonic motion正弦运动规律sine acceleration motion, sine motion余弦运动规律cosine acceleration motion, cosine motion组合运动规律combination of follower motion位移线图displacement diagram位移方程displacement equation速度线图velocity diagram加速度线图acceleration diagram盘形凸轮disk cam, plate cam移动凸轮translating cam, wedge cam等径凸轮等宽凸轮共轭凸轮圆柱凸轮圆锥凸轮反转法原理principle of inversion包络线envelope实际廓线基圆base circle偏距offset偏距圆offset circle理论廓线基圆prime circle理论廓线pitch curve实际廓线cam profile曲率curvature凸轮廓线的曲率半径运动失真尖点sharp point, cusp外凸曲线内凹曲线滚子中心点开始点initial point升程rise travel回程return travel行程stroke从动件位移follower displacement凸轮转角cam angle停顿dwell升程运动角rise angle, angle of ascent回程运动角return angle, angle of decent休止角repose angle, angle of dwell刀具中心轨迹刚性冲击rigid impulse柔性冲击flexible impulseChapter 7 Design of Gear Mechanisms 齿轮机构及其设计齿轮机构gear mechanism平行轴齿轮parallel gears相交轴齿轮intersecting gears交错轴齿轮skew gear圆柱齿轮cylindrical gear锥齿轮bevel gear蜗轮warm gear蜗杆warm直齿圆柱齿轮spur gear斜齿圆柱齿轮helical gear齿廓曲线tooth profile齿廓啮合基本定律fundamental law of toothed gearing, law of gearing 发生线generating line渐开线involute渐开线性质involute property渐开线函数involute function渐开线方程involute equation中心距distance of centers标准中心距standard distance of centers实际安装中心距mounted distance of centers节点pitch point节圆pitch circle分度圆reference circle, standard pitch circle基圆base circle齿顶圆addendum circle齿根圆dedendum circle齿数number of teeth模数module齿距circular pitch基节base pitch法节normal pitch齿厚tooth thickness齿槽宽width of space, space width任意圆周上的齿厚齿顶高addendum齿根高dedendum全齿高whole depth顶隙clearance侧隙backlash齿顶高系数coefficient of addendum顶隙系数coefficient of clearance基圆直径diameter of clearance分度圆直径diameter of reference circle节圆直径diameter of pitch circle齿顶圆直径diameter of addendum circle齿根圆直径diameter of dedendum circle公法线长度length of common normal小齿轮pinion外齿轮external gear齿条rack内齿轮internal gear, ring gear啮合mesh, engaging啮合点engaging point, meshing point啮合线line of action啮合角meshing angle, angle of obliquity正确啮合条件condition of correctly engaging重合度contact ratio滑动系数slip ratio齿轮加工forming of gear teeth, gear manufacture成形法form milling范成法generating盘形刀具disk milling cutter指形刀具finger cutter齿条刀具rack-shaped cutter干涉inerference根切undercutting不发生根切的最少齿数minimum number of teeth to avoid undercutting标准齿轮standard gear变位齿轮nonstandard gear, modified gear变位系数coefficient of offset变位offset正变位positive offset负变位negative offset正变位齿轮positive offset modified gear负变位齿轮negative offset modified gear不发生根切的最小变位系数smallest coefficient of offset to avoid undercutting 分度圆分离系数齿顶高降低系数无侧隙啮合方程分度圆分离方程基圆柱渐开面渐开螺旋面螺旋thread螺旋角helix angle左旋left-hand右旋right-hand法面normal plane端面transverse plane, plane of rotation法向参数normal parameter端面参数transverse parameter法向压力角normal angle端面压力角transverse angle法向模数normal module端面模数transverse angle法向基节normal base pitch端面基节transverse base pitch法向齿厚normal tooth thickness端面齿厚transverse tooth thickness法向齿顶高系数coefficient of normal addendum端面齿顶高系数coefficient of transverse addendum法向顶隙系数coefficient of normal radical clearance端面顶隙系数coefficient of transverse radical clearance 法向重合度normal contact ratio端面重合度transverse contact ratio当量齿轮equivalent spur gear当量齿数number of teeth of the equivalent spur gear 法向力normal force径向力radial force轴向力axial force人字齿轮herringbone gear螺旋齿轮crossed helical gear阿基米德蜗杆achimedes worm蜗杆直径系数quotient of warm diameter主截面main section螺纹升角lead angle直齿锥齿轮straight-tooth bevel gear曲齿锥齿轮spiral bevel gear球面渐开线spherical involute轴角shaft angle齿顶圆锥face cone节圆锥pitch cone齿根圆锥root cone节锥角pitch cone angle锥距cone distance锥顶common apex顶锥角face angle根锥角root angle齿顶角addendum angel齿根角dedendum angle背锥back cone平面锥齿轮crown gear准双曲面锥齿轮hypoid gearChapter 8 Gear Trains 轮系及其设计轮系gear train定轴轮系ordinary gear train单式轮系simple gear train复式轮系compound gear train回归轮系reverted gear train周转轮系epicyclic gear train差动轮系differential gear train行星轮系planetary gear train混合轮系compound epicyclic gear train, combined gear train串联轮系tandem combined gear train封闭轮系closed combined gear train传动比angular velocity ratio, speed ratio太阳轮sun gear行星轮planet gear系杆planet carrier, arm转化机构inversion gear train, converted gear train轮系效率efficiency of gear train少齿差行星传动planetary gear train with small tooth difference摆线针轮cycloidal-pin wheel摆线齿轮cucloidal gear谐波传动harmonic drive波数number of wave波发生器wave generator刚轮rigid circular spline柔轮flex spline, flexible wheel惰轮idle gear平行齿轮传动parallel move gearing减速器reducerChapter 9 Introduction of Screws, Hook’s Couplings and Inermittent Mechanisms 螺旋机构、万向联轴器、间歇运动机构简介螺旋传动 screw drive螺旋机构 screw mechanism往复移动 rectilinear motion差动螺旋机构 differential screw mechanism滚珠螺旋机构 roller screw mechanism万向联轴器 universal joints, hook ’s coupling单万向联轴器 single universal joint十字叉 cross piece叉头 yoke双万向联轴器 double universal joints间歇运动机构 intermittent motion mechanism自动机械 automatic machinery间歇转动 intermittent rotation棘轮机构 ratchet mechanism棘轮 ratchet wheel, ratchet棘爪 pawl无声棘轮 silent ratchet wheel槽轮机构 Geneva wheel mechanism锁紧盘 locking plate内槽轮机构 inverse Geneva wheel mechanism运动系数 action coefficient蜂窝煤机 beehive coal tool machine不完全齿轮机构 intermittent gear mechanism分度凸轮机构 indexing cam mechanism圆柱形分度凸轮机构 cylindrical cam indexing mechanism蜗杆形分度凸轮机构 worm-cam indexing mechanism(1) Gear Teeth FormingThere are many methods of forming the teeth of gears, such as shell molding, investment casting, permanent-mold casting, die casting, centrifugal casting. Gears can also be formed by using the power-metallurgy process or by using extrusion; a single metal bar can be formed and then sliced into gear. Usually gears are cut with either form cutters or generating cutters.(2) Advantages and Disadvantages of Helical GearsHelical gears are more expensive than spur gears but offer some advantages. They operate quieter than spur gears because of smooth and gradual contact between their angle surfaces as the teeth come into mesh. Spur gear teeth mesh along their entire face width at once; the sudden impact of tooth on tooth causes vibration. Also, for the same gear diameter and module, a helical gear is stronger due to the slightly thicker tooth form in a plane perpendicular to the gear axis.The one of the disadvantages of helical gear is that they produce an axial thrust force which is harmful to the bearings. Therefore, the helix angle is limited from οο15~8.When motion is to be transmitted between shafts which are not parallel, the spur gears can not be used. Two crossed-helical gears of the same hand can be meshed with their axed at an angle, the helix angles can be designed to accommodate any skew angle between the nonintersecting shafts.(3)Characteristics of Worm GearsWorm and worm gear are used to transmit motion between two shafts which are nonparallel, nonintersecting, usually at a shaft angles of90. The worm gears have many advantages, such as larger gear ratios, small package, carrying high loads. Perhaps the major advantage of the worm set is that it can be designed to be impossible to backdrive, that is to say, it can be designed as a self-locking worm set. Therefore, worm gears are most widely used in industry. The major disadvantages is that the efficiency is lower, usually at 40% to 85%. The friction loss may result in overhearing and serious wear.(4)Classification of Gear TrainsA gear train is a combination of gears used to transmit motion from one shaft to another. Even a single pair of gear is, strictly speaking, a gear train, though the term usually suggests that there are three or more moving gears. The gear train becomes necessary when it is required to obtain large speed ratio with a small space.Gear-box is used in automobile. There are many pairs of gears to transmit different motion. Quartz watch has gear trains in which the hour hand, minute hand and second hand rotate as their definite gear ratios to indicate the times.A gear train is any collection of two or more meshing gears, such as spur gears, bevel gears, worm gears and their combination of different kinds of gears. If all gear axes remain fixed relative to the frame, train is an ordinary gear train. If one of the gear axes rotates to the frame, this gear train is an epicycle gear train.The designer is frequently confronted with the problem of transferring power from one shaft to another while maintaining a definite ratio between the velocities of rotation of the shafts. Another requirement might be the transmission of a specified angular for this purpose, which will operate quietly and with very low friction losses. Smooth and vibrationless action is secured by giving the proper geometric shape to the outline of the teeth. The proportions of the gear tooth, as well as the sizes of the teeth, have been standardized. This procedure has simplified design calculations and has reduced the required number of cutting tools to a minimum. The proper material must be selected to obtain satisfactory strength, fatigue, and wear properties. Ease of manufacture and ease of inspection are necessary if production costs are to be kept at their lowest level. All these problems must be taken into account by the designer.滚动轴承Rolling bearing一、轴承滚动体rolling element保持架cage, retainer内圈inner ring外圈outer ring滚动轴承rolling bearing单列轴承single row bearing双列轴承double row bearing球轴承ball bearing深沟球轴承deep groove ball bearing推力轴承thrust bearing推力球轴承thrust ball bearing单列双向推力球轴承single row double-direction thrust ball bearing双列单向推力球轴承double row single-direction thrust ball bearing角接触轴承angular contact bearing调心轴承self-aligning bearing滚子轴承roller bearing圆柱滚子轴承cylindrical roller bearing圆锥滚子轴承tapered roller bearing滚针轴承needle roller bearing推力滚子轴承thrust roller bearing向心球轴承radial ball bearing角接触轴承angular contact bearing调心轴承self-aligning bearing向心轴承radial bearing角接触向心轴承angular contact radial bearing单列深沟球轴承是球轴承中最普遍的种类，应用及其广泛。
第2章机构的结构分析1．判断题（1）机构能够运动的基本条件是其自由度必须大于零。
（错误 ）（2）在平面机构中，一个高副引入两个约束。
（错误 ）（3）移动副和转动副所引入的约束数目相等。
（正确 ）（4）一切自由度不为一的机构都不可能有确定的运动。
（错误 ）（5）一个作平面运动的自由构件有六个自由度。
（错误 ）2．选择题(1) 两构件构成运动副的主要特征是（ D ）。
A ．两构件以点线面相接触B ．两构件能作相对运动C ．两构件相连接D ．两构件既连接又能作一定的相对运动(2) 机构的运动简图与（ D ）无关。
A ．构件数目B ．运动副的类型C ．运动副的相对位置D ．构件和运动副的结构(3) 有一构件的实际长度0.5m L =，画在机构运动简图中的长度为20mm ，则画此机构运动简图时所取的长度比例尺l μ是（ D ）。
A ．25B ．25mm/mC ．1:25D ．0．025m/mm(4) 用一个平面低副连接两个做平面运动的构件所形成的运动链共有（B ）个自由度。
A ．3B ．4C ．5D ．6(5) 在机构中，某些不影响机构运动传递的重复部分所带入的约束为（A ）。
A ．虚约束B ．局部自由度C ．复合铰链D ．真约束(6) 机构具有确定运动的条件是（ D ）。
A ．机构的自由度0≥FB ．机构的构件数4≥NC ．原动件数W ＞1D ．机构的自由度F ＞0, 并且=F 原动件数W(7) 如图2-34所示的三种机构运动简图中，运动不确定是( C )。
A ．（a ）和（b ）B ．（b ）和（c ）C ．（a ）和（c ）D ．（a ）、（b ）和（c ）(8) Ⅲ级杆组应由（ B ）组成。
(a) (c)(b)图2-34A．三个构件和六个低副 B．四个构件和六个低副C．二个构件和三个低副D．机架和原动件(9)有两个平面机构的自由度都等于１，现用一个有两铰链的运动构件将它们串成一个平面机构，这时自由度等于（ B ）。
