Machinery Dynamics

Machinery Dynamics

1st Edition - November 24, 2021

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  • Authors: Ce Zhang, Jianming Yang, Zongyu Chang
  • Paperback ISBN: 9780128157855
  • eBook ISBN: 9780128157862

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Machinery Dynamics includes recent advancements in this quickly evolving area, while also analyzing real applications, analyzing integrated systems, and including further discussions on each mechanical component. The book treats mechanisms separately, with different methods depending on the level of accuracy required. The contents of this book is made to suit the needs of MsC and PhD students, researchers and engineers in the areas of design of high speed machinery, condition monitoring of machine operation, and vibration.

Key Features

  • Addresses theoretical backgrounds on topics, including vibration and elastodynamics
  • Introduces rigid and elastic dynamics of various mechanisms, including linkages, cams, gears and planetary gear trains
  • Features relevant application examples


Researchers in the areas of machinery dynamics and relevant areas, Automotive and Mechanical Engineers working in areas of design of high speed machinery, condition monitoring of machine operation and vibration. MsC and Graduate students specialized in machinery dynamics and mechanical vibration all over the world

Table of Contents

  • Part I: Rigid-body Dynamics
    1 Kineto-Static Analysis
    1.1 Introduction
    1.2 Analysis of Planar Linkages
    1.2.1 Inertial Force and Inertial Moment
    1.2.2 Analysis of Planar Linkage
    1.2.3 Shaking Force and Shaking Moment
    1.3 Analysis of Sider-Crank Mechanism
    1.4 Analysis of Planar Cam Mechanisms
    2 Balancing of Planar Mechanisms and Engine Dynamics
    2.1 Introduction
    2.2 Equivalent Masses
    2.2.1 Equivalent Criteria
    2.2.2 Real Equivalent Mass
    2.3 Partial Force Balancing of Slider-Crank Mechanisms
    2.3.1 Dynamic Analysis
    2.3.2 Partial Balancing of Inertial Force
    2.4 Complete Balancing of Planar Mechanisms
    2.4.1 Criteria of Complete Balancing
    2.4.2 Complete Balancing of Shaking Force through Mass Redistribution
    2.4.3 Complete Balancing of Shaking Force and Shaking Moment
    2.4.4 Complete Balancing through Duplicated Mechanism
    2.4.5 Limitation of Complete Balancing
    2.5 Optimized Balancing
    2.6 Dynamics of Engines
    2.6.1 Inline Engines
    2.6.2 V Engines
    3 Dynamics of Single DOF Machines
    3.1 Introduction
    3.2 Forces on Machines
    3.2.1 Classification of Forces
    3.3 Characteristics of Induction Motors
    3.4 Dynamics of Single DOF systems
    3.4.1 Lagrange’s Equation
    3.4.2 Governing Equation of Single DOF Systems
    3.4.3 Equivalent Model
    3.4.4 Equation of Energy Form
    3.4.5 Discussion
    3.5 Solution of Equation
    3.5.1 Case 1: "e being function of @
    3.5.2 Case 2: Constant e and "e depending on l
    3.5.3 Case 3: "e being function of @ and @¤
    3.6 Machine Speed in Steady Stage
    3.6.1 Estimated Initial Conditions
    3.6.2 Roots of Equations
    3.7 Smoothening Velocity Fluctuation
    3.7.1 Traditional Flywheel
    3.7.2 Sizing Flywheels
    3.7.3 An Innovative Mini-Flywheel
    4 Dynamics of Machines with Multiple DOF
    4.1 Introduction
    4.2 Dynamics of Machines of Two DOF
    4.2.1 Kinematics
    4.2.2 Kinetic Energy
    4.2.3 Generalized Forces
    4.2.4 Governing Equation of Motion
    4.3 Dynamics of Two Link Manipulators
    4.4 Brief Introduction to Dynamics of Robotic Manipulators
    4.4.1 Robots and Robotic Manipulators
    4.4.2 Introduction to Robotic Kinematics
    4.4.3 Introduction to Robotic Dynamics
    Part II: Theory of Mechanical Vibration
    5 Vibration of Systems with Single DOF
    5.1 Introduction
    5.2 Free Vibration
    5.2.1 Undamped Free Vibration
    5.2.2 Damped Free Vibration
    5.3 Forced Vibration
    5.3.1 Response to Harmonic Force Excitation
    5.3.2 Response to Harmonic Base Motion Excitation
    5.3.3 Response to Periodic Force Excitation
    5.3.4 Response to Non-periodic Forces
    6 Vibration of Systems with Multiple DOF
    6.1 Introduction
    6.2 Vibration of Two DOF Systems
    6.2.1 Equation Derived through Newton’s Second Law
    6.2.2 Equation Derived through Lagrange’s Equation
    6.2.3 Vibration Absorbers
    6.3 Vibration of Multiple DOF Systems
    6.3.1 Discretization of Continuous Systems
    6.3.2 Dynamic Equation of Multiple DOF System
    6.3.3 Flexibility Matrix
    6.4 Solution of Multiple DOF Vibration
    6.4.1 Coordinate Coupling
    6.4.2 Natural Frequency and Principal Mode
    6.4.3 Orthogonality and Normalization of Principal Mode
    6.5 Vibration Response of Systems with Multiple DOF
    6.5.1 Damping Assumption
    6.5.2 Modal Truncation Method
    6.5.3 Free Vibration Response of Systems with Multiple DOF
    6.5.4 Forced Vibration Response of Systems with Multiple DOF
    7 Finite Element Method for Vibration Problems
    7.1 Introduction
    7.2 One Dimensional Element
    7.2.1 Bar Element
    7.2.2 Beam Element
    7.3 Two Dimensional Element
    7.3.1 Triangular Elements
    7.3.2 Rectangular Elements
    7.3.3 Isoparametric Element
    7.3.4 Plane Problems of FEM
    8 Nonlinear Vibration
    8.1 Introduction
    8.2 Examples of Nonlinear Systems
    8.2.1 Single Pendulum
    8.2.2 Large Deformation
    8.2.3 Joint Clearance
    8.2.4 Dry Friction
    8.3 Approximate Analysis of Free Vibration
    8.4 Approximate Analysis of Forced Vibration
    8.4.1 Primary Resonance
    8.4.2 Nonresonant Response
    8.4.3 Superharmonic Resonances
    8.4.4 Subharmonic Resonance
    8.5 Numerical Analysis
    Part III: Elasto-Dynamics
    9 Vibration of Shafts and Shaft Systems
    9.1 Introduction
    9.2 Natural Frequency of TorsionalVibration
    9.2.1 Dynamic Model of Torsional Vibration
    9.2.2 Transfer Matrix Method for Torsional Vibration
    9.3 Transfer Matrix Method for Critical Speed
    9.3.1 Point and Field Transfer Matrix
    9.3.2 Global Transfer Matrix
    9.3.3 Frequency Equation and Solution
    9.4 Finite Element Method for Critical Speed
    9.4.1 Finite Element Model
    9.4.2 Critical Speed
    9.5 Introduction to Rotor Dynamics
    10 Dynamics of Cam Mechanisms
    10.1 Introduction
    10.2 Follower Motions for High Speed Cam Mechanisms
    10.2.1 Two Types of Motion Constraints
    10.2.2 Normalization of Motion Parameters
    10.2.3 Characteristic Quantities
    10.2.4 Follower Motions
    10.3 Dynamic Models of Cam Mechanisms
    10.3.1 Dynamic Model
    10.3.2 Reduction of Model
    10.4 Dynamic Analysis of Cam Mechanisms
    10.4.1 Analysis of Single DOF Systems
    10.4.2 Analysis of Cycloidal Motion
    10.4.3 Analysis of Constant Acceleration Motion
    10.4.4 Analysis of Generic Combined Harmonic Motion
    10.4.5 Effect of _ and Dynamic Response Spectrum
    10.5 Dynamic Design of Cam Mechanisms
    10.5.1 Introduction to Design of High-speed Cam Mechanism
    10.5.2 Polydyne Cams
    10.5.3 General Rules for Design of High-speed Cams
    10.6 High Speed Indexing Cam Mechanisms
    10.6.1 Rotary Table Driven by Globoidal Cam
    10.6.2 Flexible Chain System Driven by Parallel Cam
    10.6.3 Simulation and Analysis
    11 Elasto-Dynamics of Linkage
    11.1 Introduction
    11.1.1 Brief Historic Review
    11.1.2 Review on Elasto-dynamic Analysis
    11.2 Equation of Elements
    11.2.1 Generalized Coordinates
    11.2.2 Kinematic Relations
    11.2.3 Equation of Elements
    11.3 Global Equation of Motion
    11.3.1 Generalized Coordinates
    11.3.2 Formation of Global Equation of Motion
    11.4 Solution of Equation and Analysis
    11.4.1 Solution of Equation
    11.4.2 Result Analysis
    11.5 Elasto-Dynamic Synthesis and Suppression of Vibration
    11.5.1 Elasto-Dynamic Synthesis
    11.5.2 Suppression of Elasto-Dynamic Response
    12 Elasto-Dynamics of Gear Trains
    12.1 Introduction
    12.1.1 Historical Review
    12.1.2 Features of Gear Dynamics
    12.2 Excitation in Gear Dynamics
    12.2.1 Stiffness Excitation
    12.2.2 Error Excitation
    12.2.3 Meshing Impact
    12.3 Pure Rotational Models for Spur Gear Trains
    12.3.1 Rotational Model for Gear Pairs
    12.3.2 Rotational Model of Gear-rotor System
    12.4 Translational-Rotational Model
    12.4.1 Dynamic Model
    12.4.2 Case Study
    12.5 Short Review on Gear Dynamics
    12.5.1 Linear Gear Dynamics
    12.5.2 Nonlinear Gear Dynamics
    12.5.3 Random Gear Dynamics
    12.5.4 Fault Diagnosis and Condition Monitoring
    12.5.5 Gear Tooth Profile Modification
    13 Dynamics of Planetary Gear Trains
    13.1 Introduction
    13.2 Pure Rotational Model
    13.2.1 Dynamic Model
    13.2.2 Free Vibration Analysis
    13.2.3 Analytical Analysis of Natural Frequencies
    13.3 Translational-Rotational Dynamic Model
    13.3.1 Dynamic Model
    13.3.2 Acceleration Transformation
    13.3.3 Excitation
    13.3.4 Relative Displacements
    13.3.5 Governing Equation of Motion
    13.3.6 Free Vibration Analysis
    13.4 Planet Phasing and Parameter Selection
    13.4.1 Planet Phasing
    13.4.2 Physical Illustration
    13.4.3 Experimental Validation
    13.4.4 Parameter Selection
    14 Elasto-Dynamics of Mechanical Systems
    14.1 Introduction
    14.2 Bridge Crane Systems
    14.2.1 Dynamic Model
    14.2.2 Equation of Motion
    14.2.3 Solution of Equation
    14.3 Rolling Mill System
    14.3.1 Dynamic Model
    14.3.2 Equation of Motion
    14.4 Polydyne Servo-Cam Design
    14.4.1 Principle
    14.4.2 Design Process
    14.4.3 Design Example
    15 Dynamics of Machinery with Joint Clearance
    15.1 Introduction
    15.2 Three Modes of Clearance
    15.3 Linkage Mechanism
    15.3.1 Two Mode Model
    15.3.2 One Mode Model
    15.4 Cam Mechanisms
    15.4.1 Dynamic Model
    15.4.2 Solution
    15.5 Gears
    15.5.1 Dynamic Model
    15.5.2 Solution and Result Analysis
    15.6 Features of Dynamics with Joint Clearance
    A Crossover Shock
    B Common Motions of Harmonic Combination
    C Calculation of Deformation of Gear Tooth
    D Matrices in Gear Dynamics
    E Meshing Stiffness Calculation of Planetary Gear Train

Product details

  • No. of pages: 474
  • Language: English
  • Copyright: © Academic Press 2021
  • Published: November 24, 2021
  • Imprint: Academic Press
  • Paperback ISBN: 9780128157855
  • eBook ISBN: 9780128157862

About the Authors

Ce Zhang

Emeritus Professor, School of Mechanical Engineering, Tianjin University, PR China Professor Ce Zhang has dedicated to research on machine dynamics for more than 30 years since 1980 after studying and working at Worcester Polytechnic Institute as a visiting professor. He has been the supervisor for 20 PhD and 15 Master students. About 30 of them work in academia or in industry, continuing their research on machine dynamics and other mechanical engineering areas.

Affiliations and Expertise

Emeritus Professor, School of Mechanical Engineering, Tianjin University, PR China

Jianming Yang

Associate professor, Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St John’s, NL, Canada. Dr. Yang has published around 100 journal and conference papers, and one book in Chinese by Chongqing University Press. His research focus is machinery dynamics, random vibration and fatigue prediction of mechanical systems under random loading.

Affiliations and Expertise

Associate professor, Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St John’s, NL, Canada

Zongyu Chang

Professor, College of Engineering, Ocean University of China, Qingdao, China. Dr. Chang has published around 60 journal and conference papers. His research focus is machinery dynamics, nonlinear dynamics for offshore equipment and other machines.

Affiliations and Expertise

Professor, College of Engineering, Ocean University of China, Qingdao, China

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